Using esp-camera blocks MCWPM

[mcmillanje]

I'm trying to use MCWPM to control a servo motor and esp-camera at the same time.
My code is basically a copy of the example here: https://github.com/espressif/esp32-came ... r/examples but I also added in the following function at the top:
[Codebox]static int targetAngle = 0;
static inline uint32_t example_angle_to_compare(int angle)
{
return (angle - SERVO_MIN_DEGREE) * (SERVO_MAX_PULSEWIDTH_US - SERVO_MIN_PULSEWIDTH_US) / (SERVO_MAX_DEGREE - SERVO_MIN_DEGREE) + SERVO_MIN_PULSEWIDTH_US;
}
static mcpwm_cmpr_handle_t comparator = NULL;
static mcpwm_gen_handle_t generator = NULL;
static esp_err_t servoInit()
{
ESP_LOGI(TAG, "Create timer and operator");
mcpwm_timer_handle_t timer = NULL;
mcpwm_timer_config_t timer_config = {
.group_id = 1,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = SERVO_TIMEBASE_RESOLUTION_HZ,
.period_ticks = SERVO_TIMEBASE_PERIOD,
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
};
ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer));

mcpwm_oper_handle_t oper = NULL;
mcpwm_operator_config_t operator_config = {
.group_id = 1, // operator must be in the same group to the timer
};
ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config, &oper));

ESP_LOGI(TAG, "Connect timer and operator");
ESP_ERROR_CHECK(mcpwm_operator_connect_timer(oper, timer));

ESP_LOGI(TAG, "Create comparator and generator from the operator");
//mcpwm_cmpr_handle_t comparator = NULL;
mcpwm_comparator_config_t comparator_config = {
.flags.update_cmp_on_tez = true,
};
ESP_ERROR_CHECK(mcpwm_new_comparator(oper, &comparator_config, &comparator));

//mcpwm_gen_handle_t generator = NULL;
mcpwm_generator_config_t generator_config = {
.gen_gpio_num = SERVO_PULSE_GPIO,
};
ESP_ERROR_CHECK(mcpwm_new_generator(oper, &generator_config, &generator));

// set the initial compare value, so that the servo will spin to the center position
ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator, example_angle_to_compare(0)));
ESP_LOGI(TAG, "Set generator action on timer and compare event");
// go high on counter empty
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_timer_event(generator,
MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_TIMER_EVENT_ACTION_END()));
// go low on compare threshold
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(generator,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));

ESP_LOGI(TAG, "Enable and start timer");
ESP_ERROR_CHECK(mcpwm_timer_enable(timer));
ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
vTaskDelay(pdMS_TO_TICKS(1000));
return ESP_OK;
}[/Codebox]

and I have a http server running that lets me send commands to the eps32.

My problem is the moment I run

Code: Select all

init_camera()

the servo stops working. If I put a vTaskDelay between the servo init and the camera init then the servo will work until the delay runs out and then immediately stop working.

Any Ideas what's happening?