ESP32 core 3.x support

ArminJo · Oct 21, 2024 · 8506dd9 · 8506dd9
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diff --git a/.github/workflows/LibraryBuild.yml b/.github/workflows/LibraryBuild.yml
@@ -1,7 +1,7 @@
 # LibraryBuild.yml
 # Github workflow script to test compile all examples of an Arduino library repository.
 #
-# Copyright (C) 2020  Armin Joachimsmeyer
+# Copyright (C) 2020-2024  Armin Joachimsmeyer
 # https://github.com/ArminJo/Github-Actions
 #
 
@@ -27,7 +27,7 @@ jobs:
 
     env:
       # Comma separated list without double quotes around the list.
-      REQUIRED_LIBRARIES: Servo,ServoEasing,Adafruit Motor Shield V2 Library,PlayRtttl,BlueDisplay
+      REQUIRED_LIBRARIES: Servo,ServoEasing,Adafruit Motor Shield V2 Library,PlayRtttl # ,BlueDisplay
 
     strategy:
       matrix:
@@ -44,7 +44,7 @@ jobs:
         arduino-boards-fqbn:
           - arduino:avr:uno
           - arduino:avr:uno|full
-          - esp32:esp32:featheresp32:FlashFreq=80
+          - esp32:esp32:esp32cam
 
         # Specify parameters for each board.
         # With sketches-exclude you may exclude specific examples for a board. Use a comma separated list.
@@ -68,21 +68,15 @@ jobs:
                 -DBREADBOARD_4WD_FULL_CONFIGURATION
                 -DUS_SENSOR_SUPPORTS_1_PIN_MODE
 
-          - arduino-boards-fqbn: esp32:esp32:featheresp32:FlashFreq=80
+          - arduino-boards-fqbn: esp32:esp32:esp32cam
             platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
-            required-libraries: ESP32Servo@0.13.0 # contains analogWrite.h
-            sketches-exclude: PrintMotorDiagram,PrintCarValuesWithIMU,RobotCarBasic,RobotCarBlueDisplay,SmartCarFollower,LineFollower  # no Encoder support yet
+            required-libraries: ESP32Servo
+            sketches-exclude: PrintMotorDiagram,PrintCarValuesWithIMU,RobotCarBlueDisplay,LineFollower  # no Encoder support yet, no sensor input
             build-properties: # the flags were put in compiler.cpp.extra_flags
-              All: -DCAR_IS_ESP32_CAM_BASED
-              MecanumWheelCar: -DDUMMY # undefine CAR_IS_ESP32_CAM_BASED
-              RobotCarBlueDisplay:
-                -DCAR_IS_ESP32_CAM_BASED
-                -DBLUETOOTH_BAUD_RATE=BAUD_115200
-                -DBREADBOARD_4WD_FULL_CONFIGURATION
-                -DUS_SENSOR_SUPPORTS_1_PIN_MODE
+              All: -DCAR_IS_ESP32_CAM_BASED -MMD -c # see https://github.com/espressif/arduino-esp32/issues/8815
+              MecanumWheelCar: -DDUMMY -MMD -c # this undefines CAR_IS_ESP32_CAM_BASED
 
-      # Do not cancel all jobs / architectures if one job fails
-      fail-fast: false
+#      fail-fast: false # false -> do not cancel all jobs / architectures if one job fails
 
     # This is the list of steps this job will run.
     steps:
@@ -99,14 +93,14 @@ jobs:
           path: CustomBlueDisplay # must contain string "Custom"
           # No need to put "Custom" library in the required-libraries list
 
-
       - name: Compile all examples using the arduino-test-compile action
         uses: ArminJo/arduino-test-compile@master
         with:
           arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
-          arduino-platform: ${{ matrix.arduino-platform }}
           platform-url: ${{ matrix.platform-url }}
           required-libraries: ${{ env.REQUIRED_LIBRARIES }},${{ matrix.required-libraries }}
           sketches-exclude: ${{ matrix.sketches-exclude }}
           build-properties: ${{ toJson(matrix.build-properties) }}
-          extra-arduino-lib-install-args: "--no-deps"
+          extra-arduino-lib-install-args: "--no-deps" # suppress dependency resolving for libraries, here the "Adafruit Motor Shield V2 Library"
+#          debug-install: true
+          debug-compile: true
diff --git a/examples/Basic/Basic.ino b/examples/Basic/Basic.ino
@@ -1,9 +1,9 @@
 /*
  *  Basic.cpp
  *
- *  Implements basic car movements.
+ *  Implements forward and backward movement for each 300 ms.
  *
- *  Copyright (C) 2023  Armin Joachimsmeyer
+ *  Copyright (C) 2023-2024  Armin Joachimsmeyer
  *  armin.joachimsmeyer@gmail.com
  *
  *  This file is part of PWMMotorControl https://github.com/ArminJo/PWMMotorControl.
@@ -42,7 +42,7 @@
 //#define L298_2WD_2LI_ION_VIN_IR_CONFIGURATION         // L298_2WD_2LI_ION_BASIC + VIN voltage divider + IR distance
 //#define L298_2WD_2LI_ION_VIN_IR_IMU_CONFIGURATION     // L298_2WD_2LI_ION_BASIC + VIN voltage divider + IR distance + MPU6050
 #include "RobotCarConfigurations.h" // sets e.g. CAR_HAS_ENCODERS, USE_ADAFRUIT_MOTOR_SHIELD
-#include "RobotCarPinDefinitionsAndMore.h"
+#include "RobotCarPinDefinitionsAndMore.h" // Pinout depends on settings like CAR_HAS_ENCODERS etc.
 #include "PWMDcMotor.hpp"
 
 PWMDcMotor rightCarMotor;

diff --git a/examples/Basic/RobotCarConfigurations.h b/examples/Basic/RobotCarConfigurations.h
@@ -317,6 +317,9 @@
  * BASIC CONFIGURATION for ESP32-Cam car
  * Car controlled by an ESP32-Cam module
  */
+#if defined(ESP32) // a temporarily hack
+#define CAR_IS_ESP32_CAM_BASED
+#endif
 #if defined(CAR_IS_ESP32_CAM_BASED)
 #define CAR_HAS_US_DISTANCE_SENSOR      // A HC-SR04 ultrasonic distance sensor is mounted (default for most China smart cars)
 #define CAR_HAS_DISTANCE_SERVO          // Distance sensor is mounted on a pan servo (default for most China smart cars)

diff --git a/examples/Basic/RobotCarPinDefinitionsAndMore.h b/examples/Basic/RobotCarPinDefinitionsAndMore.h
@@ -219,6 +219,7 @@
 #define LEFT_MOTOR_FORWARD_PIN         14 // IN1
 #define LEFT_MOTOR_BACKWARD_PIN        15 // IN2
 #define LEFT_MOTOR_PWM_PIN             13 // ENA - Must be PWM capable
+#define ESP32_LEDC_MOTOR_CHANNEL        4 // leave first 4 channel for other purposes e.g. Servo and Light (channel 2)
 
 // Not tested :-(
 #define RIGHT_MOTOR_INTERRUPT          12
@@ -231,11 +232,6 @@
 #define BUZZER_PIN                     23
 #endif
 
-// for ESP32 LED_BUILTIN is defined as: static const uint8_t LED_BUILTIN 2
-#  if !defined(LED_BUILTIN) && !defined(CAR_IS_ESP32_CAM_BASED)
-#define LED_BUILTIN PB1
-#  endif
-
 #else // NANO_BASED
 // Uno based
 // Pin A0 for VCC monitoring - ADC channel 2

diff --git a/examples/BasicDistance/ADCUtils.hpp b/examples/BasicDistance/ADCUtils.hpp
@@ -607,6 +607,8 @@ uint16_t getVoltageMillivoltWith_1_1VoltReference(uint8_t aADCChannelForVoltageM
 
 /*
  * Return true if sVCCVoltageMillivolt is > 4.3 V and < 4.95 V
+ * This does not really work for the UNO board, because it has no series Diode in the USB VCC
+ * and therefore a very low voltage drop.
  */
 bool isVCCUSBPowered() {
     readVCCVoltageMillivolt();

diff --git a/examples/BasicDistance/RobotCarConfigurations.h b/examples/BasicDistance/RobotCarConfigurations.h
@@ -317,6 +317,9 @@
  * BASIC CONFIGURATION for ESP32-Cam car
  * Car controlled by an ESP32-Cam module
  */
+#if defined(ESP32) && !defined(CAR_IS_ESP32_CAM_BASED) // a temporarily hack
+#define CAR_IS_ESP32_CAM_BASED
+#endif
 #if defined(CAR_IS_ESP32_CAM_BASED)
 #define CAR_HAS_US_DISTANCE_SENSOR      // A HC-SR04 ultrasonic distance sensor is mounted (default for most China smart cars)
 #define CAR_HAS_DISTANCE_SERVO          // Distance sensor is mounted on a pan servo (default for most China smart cars)

diff --git a/examples/BasicDistance/RobotCarPinDefinitionsAndMore.h b/examples/BasicDistance/RobotCarPinDefinitionsAndMore.h
@@ -219,6 +219,7 @@
 #define LEFT_MOTOR_FORWARD_PIN         14 // IN1
 #define LEFT_MOTOR_BACKWARD_PIN        15 // IN2
 #define LEFT_MOTOR_PWM_PIN             13 // ENA - Must be PWM capable
+#define ESP32_LEDC_MOTOR_CHANNEL        4 // leave first 4 channel for other purposes e.g. Servo and Light (channel 2)
 
 // Not tested :-(
 #define RIGHT_MOTOR_INTERRUPT          12
@@ -231,11 +232,6 @@
 #define BUZZER_PIN                     23
 #endif
 
-// for ESP32 LED_BUILTIN is defined as: static const uint8_t LED_BUILTIN 2
-#  if !defined(LED_BUILTIN) && !defined(CAR_IS_ESP32_CAM_BASED)
-#define LED_BUILTIN PB1
-#  endif
-
 #else // NANO_BASED
 // Uno based
 // Pin A0 for VCC monitoring - ADC channel 2

diff --git a/examples/BasicIRControl/RobotCarConfigurations.h b/examples/BasicIRControl/RobotCarConfigurations.h
@@ -317,6 +317,9 @@
  * BASIC CONFIGURATION for ESP32-Cam car
  * Car controlled by an ESP32-Cam module
  */
+#if defined(ESP32) && !defined(CAR_IS_ESP32_CAM_BASED) // a temporarily hack
+#define CAR_IS_ESP32_CAM_BASED
+#endif
 #if defined(CAR_IS_ESP32_CAM_BASED)
 #define CAR_HAS_US_DISTANCE_SENSOR      // A HC-SR04 ultrasonic distance sensor is mounted (default for most China smart cars)
 #define CAR_HAS_DISTANCE_SERVO          // Distance sensor is mounted on a pan servo (default for most China smart cars)

diff --git a/examples/BasicIRControl/RobotCarPinDefinitionsAndMore.h b/examples/BasicIRControl/RobotCarPinDefinitionsAndMore.h
@@ -219,6 +219,7 @@
 #define LEFT_MOTOR_FORWARD_PIN         14 // IN1
 #define LEFT_MOTOR_BACKWARD_PIN        15 // IN2
 #define LEFT_MOTOR_PWM_PIN             13 // ENA - Must be PWM capable
+#define ESP32_LEDC_MOTOR_CHANNEL        4 // leave first 4 channel for other purposes e.g. Servo and Light (channel 2)
 
 // Not tested :-(
 #define RIGHT_MOTOR_INTERRUPT          12
@@ -231,11 +232,6 @@
 #define BUZZER_PIN                     23
 #endif
 
-// for ESP32 LED_BUILTIN is defined as: static const uint8_t LED_BUILTIN 2
-#  if !defined(LED_BUILTIN) && !defined(CAR_IS_ESP32_CAM_BASED)
-#define LED_BUILTIN PB1
-#  endif
-
 #else // NANO_BASED
 // Uno based
 // Pin A0 for VCC monitoring - ADC channel 2

diff --git a/examples/BasicIRControl/TinyIRReceiver.hpp b/examples/BasicIRControl/TinyIRReceiver.hpp
@@ -114,17 +114,18 @@ volatile TinyIRReceiverCallbackDataStruct TinyIRReceiverData;
 #warning "IR_INPUT_PIN is deprecated, use IR_RECEIVE_PIN"
 #define IR_RECEIVE_PIN  IR_INPUT_PIN
 #endif
+
 #if !defined(IR_RECEIVE_PIN)
-#if defined(__AVR_ATtiny1616__) || defined(__AVR_ATtiny3216__) || defined(__AVR_ATtiny3217__)
+#  if defined(__AVR_ATtiny1616__) || defined(__AVR_ATtiny3216__) || defined(__AVR_ATtiny3217__)
 #warning "IR_RECEIVE_PIN is not defined, so it is set to 10"
 #define IR_RECEIVE_PIN    10
-#elif defined(__AVR_ATtiny816__)
+#  elif defined(__AVR_ATtiny816__)
 #warning "IR_RECEIVE_PIN is not defined, so it is set to 14"
 #define IR_RECEIVE_PIN    14
-#else
+#  else
 #warning "IR_RECEIVE_PIN is not defined, so it is set to 2"
 #define IR_RECEIVE_PIN    2
-#endif
+#  endif
 #endif
 
 #if !defined(IR_FEEDBACK_LED_PIN) && defined(LED_BUILTIN)
@@ -323,7 +324,7 @@ void IRPinChangeInterruptHandler(void) {
                      * Check address parity
                      * Address is sent first and contained in the lower word
                      */
-                    if (TinyIRReceiverControl.IRRawData.UBytes[0] != (uint8_t) (~TinyIRReceiverControl.IRRawData.UBytes[1])) {
+                    if (TinyIRReceiverControl.IRRawData.UBytes[0] != (uint8_t)(~TinyIRReceiverControl.IRRawData.UBytes[1])) {
 #if defined(ENABLE_NEC2_REPEATS)
                     TinyIRReceiverControl.Flags |= IRDATA_FLAGS_PARITY_FAILED; // here we can have the repeat flag already set
 #else
@@ -336,7 +337,7 @@ void IRPinChangeInterruptHandler(void) {
                      * Check command parity
                      */
 #if (TINY_RECEIVER_ADDRESS_BITS > 0)
-                    if (TinyIRReceiverControl.IRRawData.UBytes[2] != (uint8_t) (~TinyIRReceiverControl.IRRawData.UBytes[3])) {
+                    if (TinyIRReceiverControl.IRRawData.UBytes[2] != (uint8_t)(~TinyIRReceiverControl.IRRawData.UBytes[3])) {
 #if defined(ENABLE_NEC2_REPEATS)
                     TinyIRReceiverControl.Flags |= IRDATA_FLAGS_PARITY_FAILED;
 #else

diff --git a/examples/BasicMecanum/RobotCarConfigurations.h b/examples/BasicMecanum/RobotCarConfigurations.h
@@ -317,6 +317,9 @@
  * BASIC CONFIGURATION for ESP32-Cam car
  * Car controlled by an ESP32-Cam module
  */
+#if defined(ESP32) && !defined(CAR_IS_ESP32_CAM_BASED) // a temporarily hack
+#define CAR_IS_ESP32_CAM_BASED
+#endif
 #if defined(CAR_IS_ESP32_CAM_BASED)
 #define CAR_HAS_US_DISTANCE_SENSOR      // A HC-SR04 ultrasonic distance sensor is mounted (default for most China smart cars)
 #define CAR_HAS_DISTANCE_SERVO          // Distance sensor is mounted on a pan servo (default for most China smart cars)

diff --git a/examples/BasicMecanum/RobotCarPinDefinitionsAndMore.h b/examples/BasicMecanum/RobotCarPinDefinitionsAndMore.h
@@ -219,6 +219,7 @@
 #define LEFT_MOTOR_FORWARD_PIN         14 // IN1
 #define LEFT_MOTOR_BACKWARD_PIN        15 // IN2
 #define LEFT_MOTOR_PWM_PIN             13 // ENA - Must be PWM capable
+#define ESP32_LEDC_MOTOR_CHANNEL        4 // leave first 4 channel for other purposes e.g. Servo and Light (channel 2)
 
 // Not tested :-(
 #define RIGHT_MOTOR_INTERRUPT          12
@@ -231,11 +232,6 @@
 #define BUZZER_PIN                     23
 #endif
 
-// for ESP32 LED_BUILTIN is defined as: static const uint8_t LED_BUILTIN 2
-#  if !defined(LED_BUILTIN) && !defined(CAR_IS_ESP32_CAM_BASED)
-#define LED_BUILTIN PB1
-#  endif
-
 #else // NANO_BASED
 // Uno based
 // Pin A0 for VCC monitoring - ADC channel 2

diff --git a/examples/IRDispatcherControl/RobotCarConfigurations.h b/examples/IRDispatcherControl/RobotCarConfigurations.h
@@ -317,6 +317,9 @@
  * BASIC CONFIGURATION for ESP32-Cam car
  * Car controlled by an ESP32-Cam module
  */
+#if defined(ESP32) && !defined(CAR_IS_ESP32_CAM_BASED) // a temporarily hack
+#define CAR_IS_ESP32_CAM_BASED
+#endif
 #if defined(CAR_IS_ESP32_CAM_BASED)
 #define CAR_HAS_US_DISTANCE_SENSOR      // A HC-SR04 ultrasonic distance sensor is mounted (default for most China smart cars)
 #define CAR_HAS_DISTANCE_SERVO          // Distance sensor is mounted on a pan servo (default for most China smart cars)

diff --git a/examples/IRDispatcherControl/RobotCarPinDefinitionsAndMore.h b/examples/IRDispatcherControl/RobotCarPinDefinitionsAndMore.h
@@ -219,6 +219,7 @@
 #define LEFT_MOTOR_FORWARD_PIN         14 // IN1
 #define LEFT_MOTOR_BACKWARD_PIN        15 // IN2
 #define LEFT_MOTOR_PWM_PIN             13 // ENA - Must be PWM capable
+#define ESP32_LEDC_MOTOR_CHANNEL        4 // leave first 4 channel for other purposes e.g. Servo and Light (channel 2)
 
 // Not tested :-(
 #define RIGHT_MOTOR_INTERRUPT          12
@@ -231,11 +232,6 @@
 #define BUZZER_PIN                     23
 #endif
 
-// for ESP32 LED_BUILTIN is defined as: static const uint8_t LED_BUILTIN 2
-#  if !defined(LED_BUILTIN) && !defined(CAR_IS_ESP32_CAM_BASED)
-#define LED_BUILTIN PB1
-#  endif
-
 #else // NANO_BASED
 // Uno based
 // Pin A0 for VCC monitoring - ADC channel 2

diff --git a/examples/IRDispatcherControl/RobotCarUtils.hpp b/examples/IRDispatcherControl/RobotCarUtils.hpp
@@ -46,7 +46,7 @@
  * ENABLE_RTTTL_FOR_CAR
  * VIN_VOLTAGE_CORRECTION
  * ADC_INTERNAL_REFERENCE_MILLIVOLT
- * TIMOUT_BEFORE_DEMO_MODE_STARTS_MILLIS
+ * TIMEOUT_BEFORE_DEMO_MODE_STARTS_MILLIS
  * FOLLOWER_DISTANCE_MINIMUM_CENTIMETER
  * FOLLOWER_DISTANCE_MAXIMUM_CENTIMETER
  * US_DISTANCE_SENSOR_ENABLE_PIN
@@ -149,7 +149,11 @@ void printProgramOptions(Print *aSerial) {
     aSerial->println();
 
 #if defined(USE_BLUE_DISPLAY_GUI)
-    aSerial->println(F("If not powered by USB, run follower demo after " STR(TIMOUT_BEFORE_DEMO_MODE_STARTS_MILLIS) " ms"));
+#  if defined(ADC_UTILS_ARE_AVAILABLE)
+    aSerial->print(
+            F("If not powered by USB, run follower demo after " STR(TIMEOUT_BEFORE_DEMO_MODE_STARTS_MILLIS) " ms. USBpowered="));
+    aSerial->println(isVCCUSBPowered());
+#  endif
 #endif
 
     aSerial->println(
@@ -178,7 +182,7 @@ void initRobotCarPWMMotorControl() {
     BACK_LEFT_MOTOR_FORWARD_PIN, BACK_LEFT_MOTOR_BACKWARD_PIN);
 #else
     RobotCar.init(RIGHT_MOTOR_FORWARD_PIN, RIGHT_MOTOR_BACKWARD_PIN, RIGHT_MOTOR_PWM_PIN, LEFT_MOTOR_FORWARD_PIN,
-            LEFT_MOTOR_BACKWARD_PIN, LEFT_MOTOR_PWM_PIN);
+    LEFT_MOTOR_BACKWARD_PIN, LEFT_MOTOR_PWM_PIN);
 #endif
 }
 
@@ -346,7 +350,7 @@ void calibrateDriveSpeedPWMAndPrint() {
     RobotCar.stop();
 
 #if defined(USE_BLUE_DISPLAY_GUI)
-        isPWMCalibrated = true;
+    isPWMCalibrated = true;
 #endif
 }
 #endif // #if defined(VIN_ATTENUATED_INPUT_PIN)
@@ -477,9 +481,7 @@ bool calibrateRotation(turn_direction_t aTurnDirection) {
 void testDriveTwoTurnsBothDirections() {
 #define NUMBER_OF_TEST_DRIVES       2
 #if defined(ENABLE_SERIAL_OUTPUT) // requires 1504 bytes program space
-    Serial.print(F("Move the wheels 2x a full turn i.e. "));
-    Serial.print(DEFAULT_CIRCUMFERENCE_MILLIMETER);
-    Serial.println(F(" mm, both directions"));
+    Serial.print(F("Move the wheels 2x a full turn i.e. " STR(DEFAULT_CIRCUMFERENCE_MILLIMETER) " mm, both directions"));
 #endif
     for (int i = 0; i < NUMBER_OF_TEST_DRIVES; ++i) {
         RobotCar.goDistanceMillimeter(DEFAULT_CIRCUMFERENCE_MILLIMETER);
@@ -500,9 +502,7 @@ void testDriveTwoTurnsBothDirections() {
 void testDriveTwoTurnsIn5PartsBothDirections() {
     uint8_t tDirection = DIRECTION_FORWARD;
 #if defined(ENABLE_SERIAL_OUTPUT) // requires 1504 bytes program space
-    Serial.print(F("Move the wheels 2x 1/8 + 1/4 + 1/2 + 1 turn i.e. "));
-    Serial.print(2 * DEFAULT_CIRCUMFERENCE_MILLIMETER);
-    Serial.println(F(" mm, both directions"));
+    Serial.print(F("Move the wheels 2x 1/8 + 1/4 + 1/2 + 1 turn i.e. " STR(2 * DEFAULT_CIRCUMFERENCE_MILLIMETER)" mm, both directions"));
 #endif
     for (int i = 0; i < 2; ++i) {
         RobotCar.goDistanceMillimeter(DEFAULT_CIRCUMFERENCE_MILLIMETER / 8, tDirection);

diff --git a/examples/IRDispatcherControl/TinyIRReceiver.hpp b/examples/IRDispatcherControl/TinyIRReceiver.hpp
@@ -114,17 +114,18 @@ volatile TinyIRReceiverCallbackDataStruct TinyIRReceiverData;
 #warning "IR_INPUT_PIN is deprecated, use IR_RECEIVE_PIN"
 #define IR_RECEIVE_PIN  IR_INPUT_PIN
 #endif
+
 #if !defined(IR_RECEIVE_PIN)
-#if defined(__AVR_ATtiny1616__) || defined(__AVR_ATtiny3216__) || defined(__AVR_ATtiny3217__)
+#  if defined(__AVR_ATtiny1616__) || defined(__AVR_ATtiny3216__) || defined(__AVR_ATtiny3217__)
 #warning "IR_RECEIVE_PIN is not defined, so it is set to 10"
 #define IR_RECEIVE_PIN    10
-#elif defined(__AVR_ATtiny816__)
+#  elif defined(__AVR_ATtiny816__)
 #warning "IR_RECEIVE_PIN is not defined, so it is set to 14"
 #define IR_RECEIVE_PIN    14
-#else
+#  else
 #warning "IR_RECEIVE_PIN is not defined, so it is set to 2"
 #define IR_RECEIVE_PIN    2
-#endif
+#  endif
 #endif
 
 #if !defined(IR_FEEDBACK_LED_PIN) && defined(LED_BUILTIN)
@@ -323,7 +324,7 @@ void IRPinChangeInterruptHandler(void) {
                      * Check address parity
                      * Address is sent first and contained in the lower word
                      */
-                    if (TinyIRReceiverControl.IRRawData.UBytes[0] != (uint8_t) (~TinyIRReceiverControl.IRRawData.UBytes[1])) {
+                    if (TinyIRReceiverControl.IRRawData.UBytes[0] != (uint8_t)(~TinyIRReceiverControl.IRRawData.UBytes[1])) {
 #if defined(ENABLE_NEC2_REPEATS)
                     TinyIRReceiverControl.Flags |= IRDATA_FLAGS_PARITY_FAILED; // here we can have the repeat flag already set
 #else
@@ -336,7 +337,7 @@ void IRPinChangeInterruptHandler(void) {
                      * Check command parity
                      */
 #if (TINY_RECEIVER_ADDRESS_BITS > 0)
-                    if (TinyIRReceiverControl.IRRawData.UBytes[2] != (uint8_t) (~TinyIRReceiverControl.IRRawData.UBytes[3])) {
+                    if (TinyIRReceiverControl.IRRawData.UBytes[2] != (uint8_t)(~TinyIRReceiverControl.IRRawData.UBytes[3])) {
 #if defined(ENABLE_NEC2_REPEATS)
                     TinyIRReceiverControl.Flags |= IRDATA_FLAGS_PARITY_FAILED;
 #else