{{HEAD}}

# ESP32forth

{{MENU}}

## Download

### STABLE RELEASE

ESP32forth-{{STABLE_VERSION}}.zip - Single .ino file ready for installation
Version: {{STABLE_VERSION}} (Stable)

### LONG TERM STABLE RELEASE

ESP32forth-{{OLD_STABLE_VERSION}}.zip - Single .ino file ready for installation
Version: {{OLD_STABLE_VERSION}} (Long-term Stable)

### Beta Release

ESP32forth-{{VERSION}}.zip - Single .ino file ready for installation
Version: {{VERSION}} (Beta)

Release Archive - Prior Releases

http://github.com/flagxor/ueforth - Complete Unprocessed Source Code

## License

NOTE: Although Esp32forth is licensed under Apache 2.0, please be aware that binaries built with the Arduino IDE (such as ESP32forth) include components and libraries under other additional licenses.
The ESP32 plugin for Arduino is also under a different license.
Additionally, the ESP32 toolchain used by Arduino, contains further components under other licenses.
Be sure to consult a lawyer before using for comercial purposes.

    Copyright 2021 Bradley D. Nelson

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.

## Install

Download the Arduino IDE for your platform.

Go to File > Preferences.
Under Additional Board Manager URLs add:

- For ESP32 - `https://dl.espressif.com/dl/package_esp32_index.json`
- For ESP32-S2 or ESP32-C3 - `https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json`

Select your serial port under Tools > Port.

Under Tools choose board and settings as below under Tools.

BOARD | ESP32 Version | Tools Settings
--- | --- | ---
OTHER ESP32-XXX BOARDS Use a more exact board selection or consult documentation to choose equivalent Dev Module settings. Your mileage may vary. NOTE: Not all ESP-32 boards are compatible with Arduino. | 2.0.1 | Board: Your board type OR closest Dev Module Partition Scheme: Favor more App storage if option available

ESP32-WROOM

1.0.6

Board: ESP32 Dev Module
Partition Scheme: No OTA (2M APP, 2M SPIFFS) ← Non-default
Upload Speed: 921600
CPU Frequency: 240MHz
Flash Frequency: 80MHz
Flash Mode: QIO
Flash Size: 4MB (32Mb)
Core Debug Level: None
PSRAM: Disable

Arduino Runs On: Core 1
Events Run On: Core 1

ESP32-WROVER

1.0.6

Board: ESP32 Dev Module
Partition Scheme: No OTA (2M APP, 2M SPIFFS) ← Non-default
Upload Speed: 921600
CPU Frequency: 240MHz
Flash Frequency: 80MHz
Flash Mode: QIO
Flash Size: 4MB (32Mb)
Core Debug Level: None
PSRAM: Enabled

Arduino Runs On: Core 1
Events Run On: Core 1

ESP32-CAM | 1.0.6 | Board: AI Thinker ESP32-CAM
ESP32-MINI-1 ESP32-SOLO-1 NOT CURRENTLY SUPPORTED | N/A | NOT CURRENTLY SUPPORTED Arduino builds ESP32 assuming dual core, but the SOLO and MINI have only one core.
ESP32-S2-WROOM | 2.0.1 | Board: ESP32S2 Dev Module Partition Scheme: No OTA (2M APP, 2M SPIFFS) ← Non-default Upload Speed: 921600 USB CDC On Boot: Disabled USB Firmware MSC On Boot: Disabled USB DFU On Boot: Disabled Upload Mode: UART0 CPU Frequency: 240MHz Flash Frequency: 80MHz Flash Mode: QIO Flash Size: 4MB (32Mb) Core Debug Level: None PSRAM: Disabled
ESP32-S2-WROVER | 2.0.1 | Board: ESP32S2 Dev Module Partition Scheme: No OTA (2M APP, 2M SPIFFS) ← Non-default Upload Speed: 921600 USB CDC On Boot: Disabled USB Firmware MSC On Boot: Disabled USB DFU On Boot: Disabled Upload Mode: UART0 CPU Frequency: 240MHz Flash Frequency: 80MHz Flash Mode: QIO Flash Size: 4MB (32Mb) Core Debug Level: None PSRAM: Enabled

ESP32-C3-MINI-1 (ESP32-C3-DevKitM-1) | ESP32-C3-WROOM-02 (ESP32-C3-DevKitC-02)

2.0.1

Board: ESP32C3 Dev Module
Partition Scheme: No OTA (2M APP, 2M SPIFFS) ← Non-default
Upload Speed: 921600
USB CDC On Boot: Disabled
CPU Frequency: 160MHz
Flash Frequency: 80MHz
Flash Mode: QIO
Flash Size: 4MB (32Mb)
Core Debug Level: None
PSRAM: Disabled

## Use

Initially ESP32forth can be interacted with over a serial port (over USB). You can do this from the Arduino IDE's Serial Monitor option. Be sure to config the serial port to: `baud rate = 115200, data bits = 8, stop bits = 1, and parity = N`.

On boot, ESP32forth configures PIN 2 (typically an LED) to be an output and brings it HIGH (lighting the LED after boot).

## ESP32forth Features

### ESP32forth Specific Words

{{COMMON}} {{POSIX_COMMON}}

### ESP32forth Bindings

Because Arduino builds a statically linked image for flashing into ESP32 devices, all C function bindings need to be explicitly added. This is the current collection. Typically to reduce confusion, function names have be preserved even through verbose. In popular cases a shorted higher level name is provided.

See template.ino.

##### Allocation

These words are inside the `internals` vocabulary.

    MALLOC ( n -- a | 0 )   System malloc
    SYSFREE ( a -- )   System free
    REALLOC ( a n -- a | 0 )   System realloc

##### Serial

These words are inside the `Serial` vocabulary.

    Serial.begin ( baud -- )   Start serial port
    Serial.end ( -- )   End serial port
    Serial.available ( -- f )   Is serial data available
    Serial.readBytes ( a n -- n )   Read serial bytes, return number gotten
    Serial.write ( a n -- n )   Write serial bytes
    Serial.flush ( -- )   Flush serial buffer

##### Serial Bluetooth

These words are inside the `bluetooth` vocabulary.

    SerialBT.new ( -- bt )   Allocate new BT object
    SerialBT.delete ( bt -- )   Free BT object
    SerialBT.begin ( localname ismaster bt -- f )
    SerialBT.end ( bt -- )
    SerialBT.available ( bt -- f )
    SerialBT.readBytes ( a n bt -- n )
    SerialBT.write ( a n bt -- n )
    SerialBT.flush ( bt -- )
    SerialBT.hasClient ( bt -- f )
    SerialBT.enableSSP ( bt -- )
    SerialBT.setPin ( z bt -- f )
    SerialBT.unpairDevice ( addr bt -- f )
    SerialBT.connect ( remotename bt -- f )
    SerialBT.connectAddr ( addr bt -- f )
    SerialBT.disconnect ( bt -- f )
    SerialBT.connected ( timeout bt -- f )
    SerialBT.isReady ( checkMaster timeout -- f )   Default checkMaster=false, timeout=0

##### Bluetooth

These words are inside the `bluetooth` vocabulary.

    esp_bt_dev_get_address ( -- a ) addr of 6 byte mac address

##### GPIO

    pinMode ( pin mode -- )   Set GPIO pin mode
    digitalWrite ( pin value -- )   Set GPIO pin state
    analogRead ( pin -- n )   Analog read from 0-4095
    pulseIn ( pin value usec -- usec/0 )  Wait for a pulse

Available on devices other than ESP32-C3:

    dacWrite ( pin 0-255 -- )  Write to DAC (pin 25, 26)

##### ledc

These words are inside the `ledc` vocabulary.

    ledcSetup ( channel freq resolution -- freq )
    ledcAttachPin ( pin channel -- )
    ledcDetachPin ( pin -- )
    ledcRead ( channel -- n )
    ledcReadFreq ( channel -- freq )   Get frequency (x 1,000,000)
    ledcWrite ( channel duty -- )
    ledcWriteTone ( channel freq )   Write tone frequency (x 1000)
    ledcWriteNote ( channel note octave -- freq )

##### Short GPIO Names

    pin ( value pin# -- )   Set GPIO pin value
    adc ( pin# -- n )   Analog read pin, result 0-1023

##### System

    MS ( n -- ) Pause for some number of milliseconds.
    MS-TICKS ( -- n ) Time since start in milliseconds.
    TERMINATE ( n -- ) Call system exit.

##### Files

    R/O ( -- mode )
    R/W ( -- mode )
    W/O ( -- mode )
    BIN ( mode -- mode )
    CLOSE-FILE ( fh -- ior )
    OPEN-FILE ( a n mode -- fh ior )
    CREATE-FILE ( a n mode -- fh ior )
    DELETE-FILE ( a n -- ior )
    WRITE-FILE ( a n fh -- ior )
    READ-FILE ( a n fh -- n ior )
    FILE-POSITION ( fh -- n ior )
    REPOSITION-FILE ( n fh -- ior )
    FILE-SIZE ( fh -- n ior )

##### WiFi

These words are inside the `WiFi` vocabulary.

    WiFi.config ( ip dns gateway subnet -- )   Packaged a.b.c.d little-endian
    Wifi.begin ( ssid-z password-z -- )
    Wifi.disconnect ( -- )
    WiFi.status ( -- n )
    WiFi.macAddress ( a -- )
    WiFi.localIP ( -- ip )
    WiFi.mode ( mode -- ) WIFI_MODE_NULL WIFI_MODE_STA WIFI_MODE_AP WIFI_MODE_APSTA
    WiFi.setTxPower ( powerx4 -- )   Set power x4
    WiFi.getTxPower ( -- powerx4 )   Get power x4

    ( In 7.0.6.17 and up )
    WiFi.softAP ( ssid password/0 -- success )
    WiFi.softAPIP ( -- ip )
    WiFi.softAPBroadcastIP ( -- ip )
    WiFi.softAPNetworkID ( -- ip )
    WiFi.softAPConfig ( localip gateway subnet -- success )
    WiFi.softAPdisconnect ( wifioff -- success )
    WiFi.softAPgetStationNum ( -- num )

##### mDNS

    MDNS.begin ( name-z -- )   Start multicast dns

##### SPI Flash

These words are inside the `spi_flash` vocabulary.

    spi_flash_init ( -- ) Init driver access.
    spi_flash_get_chip_size ( -- n ) Get flash size.
    spi_flash_erase_sector ( sector -- err ) Erase a sector.
    spi_flash_erase_range ( addr size -- err ) Erase a range.
    spi_flash_write ( destaddr src size -- err ) Write to flash.
    spi_flash_write_encrypted ( destaddr src size -- err ) Write encrypted.
    spi_flash_read ( srcaddr dst size -- err ) Read from flash.
    spi_flash_read_encrypted ( srcaddr dst size -- err ) Read encrypted.
    spi_flash_mmap ( srcaddr size memtype out outhandle -- err ) Map region.
    spi_flash_mmap_pages ( pages pages# memtype out outhandle -- err ) Map pages.
    spi_flash_munmap ( handle -- ) Unmap region.
    spi_flash_mmap_dump ( -- ) Dump memory map.
    spi_flash_mmap_get_free_pages ( memtype -- n ) Get free pages.
    spi_flash_cache2phys ( a -- addr ) Get flash addr.
    spi_flash_phys2cache ( addr memtype -- a ) Get mapped flash addr.
    spi_flash_cache_enabled ( -- f ) Is flash enabled.

    esp_partition_t_size ( -- n ) sizeof(esp_parition_t).
    esp_partition_find ( type subtype szlabel -- it ) Get partition iterator.
    esp_partition_find_first ( type subtype szlabel -- part ) Get first partition.
    esp_partition_get ( it -- part ) Get current partition.
    esp_partition_next ( it -- it' ) Get next partition.
    esp_partition_iterator_release ( it -- ) Free iterator.
    esp_partition_verify ( part -- part' ) Verify partition.
    esp_partition_read ( part srcoff dst size -- err ) Read from partition.
    esp_partition_write ( part dstoff src size -- err ) Write to partition.
    esp_partition_erase_range ( part start size -- err ) Erase range.
    esp_partition_mmap ( part off size memtype out outhandle -- err ) Map memory.
    esp_partition_get_sha256 ( part a -- err ) Get sha256 digest.
    esp_partition_check_identity ( part part -- f ) Check partitions for equality.

##### SPIFFS

These words are inside the `SPIFFS` vocabulary.

    SPIFFS.begin ( format-on-fail path-z max-files -- f )
    SPIFFS.end ( -- )
    SPIFFS.format ( -- f )
    SPIFFS.totalBytes ( -- n )
    SPIFFS.usedBytes ( -- n )

##### WebServer (DEPRECATED)

These words are inside the `WebServer` vocabulary.

Removed in 7.0.6.14, use httpd instead.

    WebServer.new ( port -- ws )   Allocate new webserver object
    WebServer.delete ( ws -- )   Delete webserver object
    WebServer.begin ( port ws -- )
    WebServer.stop ( ws -- )
    WebServer.on ( path-z xt ws -- ) Set up a web path handle callback
    WebServer.handleClient ( ws -- )   Handle one client request
    WebServer.hasArg ( z ws -- f )   By name
    WebServer.arg ( z ws -- z )   By name
    WebServer.argi ( n ws -- z )   By index
    WebServer.argName ( n ws -- z)   By index
    WebServer.args ( ws -- n )   Number of args
    WebServer.setContentLength ( n ws -- )
    WebServer.sendHeader ( name-z value-z fist ws -- )
    WebServer.send ( code mimetype data ws -- )
    WebServer.sendContent ( z ws -- )
    WebServer.method ( ws -- n )   GET / POST etc.

##### httpd

These words are inside the `httpd` vocabulary.

    server ( port -- ) Run a webserver on a port (in background, returns immediately).
    handleClient ( -- f ) Wait for a client to connect, true if connected.
    path ( -- a n ) Get request path.
    method ( -- a n ) Get request method (GET/POST).
    header ( a n -- a n ) Get header value or empty string.
    body ( -- a n ) Get request body.
    response ( mime mime# result result# status -- ) Respond with a particular mime type result and status.
    ok-response ( mime mime# ) Response with a HTTP 200.
    bad-response ( -- ) Response with HTTP 400 Bad request.
    notfound-response ( -- ) Response with HTTP 404 Not found.
    send ( a n -- ) Send response bytes.

    NOTE: You may want to use this feature in tandem with tasks / streams.

    Example:

    also httpd

    : handle-index
      s" text/html" ok-response r|

      Hi!

    | send ;

    : handle1
      ." Got a request for: " path type cr
      path s" /" str= if handle-index exit then
      notfound-response
    ;

    : run  8080 server
           begin handleClient if handle1 then pause again ;
    run

##### Wire

These words are inside the `Wire` vocabulary.

    Wire.begin ( -- f )
    Wire.setPins ( sda scl -- f )
    Wire.setClock ( frequency -- )
    Wire.getClock ( -- frequency )
    Wire.setTimeout ( ms -- ) Default is 50ms
    Wire.getTimeout ( -- ms )
    Wire.beginTransmission ( n -- )
    Wire.endTransmission ( sendstop -- f ) Default is true
    Wire.requestFrom ( address quantity sendstop -- n )
    Wire.write ( a n -- n )
    Wire.available ( -- f )
    Wire.read ( -- ch )
    Wire.peek ( -- ch )
    Wire.flush ( -- )

These words were available in v7.0.6.5 and before, but are now deprecated as the underlying Arduino functions have gone away in the v2.0.1 ESP32 Arduino library.

    Wire.lastError ( -- n )
    Wire.getErrorText ( n -- z )
    Wire.busy ( -- f )
    Wire.writeTransmission ( addr a n sendstop -- err )
    Wire.readTransmission ( addr a n sendstop acount -- err )

##### Camera

These words are inside the `camera` vocabulary.

    esp_camera_init ( config -- f )
    esp_camera_deinit ( -- f )
    esp_camera_fb_get ( -- fb )
    esp_camera_fb_return ( fb -- )
    esp_camera_sensor_get ( -- sensor )
    esp_camera_save_to_nvs ( key -- n )
    esp_camera_load_from_nvs ( key -- n )

    ( formats )
    PIXFORMAT_RGB565
    PIXFORMAT_YUV422
    PIXFORMAT_GRAYSCALE
    PIXFORMAT_JPEG
    PIXFORMAT_RGB888
    PIXFORMAT_RAW
    PIXFORMAT_RGB444
    PIXFORMAT_RGB555

    ( frame sizes )
    FRAMESIZE_96x96    ( 96x96)
    FRAMESIZE_QQVGA    ( 160x120 )
    FRAMESIZE_QCIF     ( 176x144 )
    FRAMESIZE_HQVGA    ( 240x176 )
    FRAMESIZE_240x240  ( 176x144 )
    FRAMESIZE_QVGA     ( 320x240 )
    FRAMESIZE_CIF      ( 400x296 )
    FRAMESIZE_HVGA     ( 480x320 )
    FRAMESIZE_VGA      ( 640x480 )
    FRAMESIZE_SVGA     ( 800x600 )
    FRAMESIZE_XGA     ( 1024x768 )
    FRAMESIZE_HD      ( 1280x720 )
    FRAMESIZE_SXGA    ( 1280x1024 )
    FRAMESIZE_UXGA    ( 1600x1200 )

    ( access to config )
    camera-fb-count ( -- a )
    camera-jpeg-quality ( -- a )
    camera-frame-size ( -- a )
    camera-format ( -- a )

    ( Access a frame returned by esp_camera_fb_get )
    fb->buf ( -- a )
    fb->len ( -- n )
    fb->width ( -- n )
    fb->height ( -- n )
    fb->format ( -- n )
    fb->sec ( -- n )
    fb->usec ( -- n )

    ( Access methods in struct returned by esp_camera_sensor_get )
    s->xclk_freq_hz ( a )
    s->init_status ( s )
    s->reset ( s )
    s->set_pixformat ( s pixformat )
    s->set_framesize ( s framesize )
    s->set_contrast ( s level )
    s->set_brightness ( s level )
    s->set_saturation ( s level )
    s->set_sharpness ( s level )
    s->set_denoise ( s level )
    s->set_gainceiling ( s gainceil )
    s->set_quality ( s quality )
    s->set_colorbar ( s enable )
    s->set_whitebal ( s enable )
    s->set_gain_ctrl ( s enable )
    s->set_exposure_ctrl ( s enable )
    s->set_hmirror ( s enable )
    s->set_vflip ( s enable )
    ( --- )
    s->set_aec2 ( s enable )
    s->set_awb_gain ( s enable )
    s->set_agc_gain ( s gain )
    s->set_aec_value ( s gain )
    ( --- )
    s->set_special_effect ( s effect )
    s->set_wb_mode ( s mode )
    s->set_ae_level ( s level )
    ( --- )
    s->set_raw_gma ( s enable )
    s->set_lenc ( s enable )
    ( --- )
    s->get_reg ( s reg mask )
    s->set_reg ( s reg mask value )
    s->set_res_raw ( s startX startY endX endY offsetX offsetY totalX totalY outputX outputY scale binning )
    s->set_pll ( s bypass mul sys root pre seld5 pclken pclk )
    s->set_xclk ( s time xclk )

##### Camera Server

Requires v7.0.6+

WIP Prototype - Not yet stable
These words are inside the `camera-server` vocabulary.

    server ( port -- ) Start an image server at port,
                       e.g. http://IP/image will produce an image

##### SD

These words are inside the `SD` vocabulary. They allow use of an SDcard over SPI.

    SD.begin ( -- ok )   uses all the defaults "/sd" etc.
    SD.beginDefaults ( -- sspin SPIClass frequency mountpointsz maxfiles format_if_empty )
                     (    SS    SPI      4000000   "/sd"        5        false )
    SD.beginFull ( sspin SPIClass frequency mountpoint maxfiles format_if_empty -- ok )
    SD.end ( -- )
    SD.cardType ( -- n )
    SD.totalBytes ( -- n )
    SD.usedBytes ( -- n )

##### SD_MMC

These words are inside the `SD_MMC` vocabulary. They allow use of an SDcard over MMC internal interface.
Note, SD_MMC is unavailable on ESP32-S2 and ESP32-C3.

    SD_MMC.begin ( -- ok )   uses all the defaults "/sdcard" etc.
    SD_MMC.beginDefaults ( -- mountsz   mode1bit format_if_fail )
                         (    "/sdcard" false    false )
                         (    sdmmc_freq not supported for generality )
    SD_MMC.beginFull ( mountsz mode1bit format_if_fail -- ok )
    SD_MMC.end ( -- )
    SD_MMC.cardType ( -- n )
    SD_MMC.totalBytes ( -- n )
    SD_MMC.usedBytes ( -- n )

##### Interrupts

These words are inside the `INTERRUPTS` vocabulary.

High Level words:

    pinchange ( xt pin -- ) Call xt when pin changes.

Example:

    17 input pinMode
    : test ." pinvalue: " 17 digitalRead . cr ;
    ' test 17 pinchange

##### Interrupts

These words are inside the `interrupts` vocabulary.

    ESP_INTR_FLAG_DEFAULT -- Default handler allows per pin routing

    Various triggers:
      #GPIO_INTR_DISABLE
      #GPIO_INTR_POSEDGE
      #GPIO_INTR_NEGEDGE
      #GPIO_INTR_ANYEDGE
      #GPIO_INTR_LOW_LEVEL
      #GPIO_INTR_HIGH_LEVEL

    gpio_config ( gpio_config_t* -- 0/err )
    gpio_reset_pin ( pin -- 0/err )

    gpio_set_intr_type ( pin type -- 0/err )

    gpio_intr_enable ( pin -- 0/err )
    gpio_intr_disable ( pin -- 0/err )

    gpio_set_level ( pin level -- 0/err )
    gpio_get_level ( pin -- level )

    gpio_set_direction ( pin mode -- 0/err )

    gpio_set_pull_mode ( pin mode -- 0/err )

    gpio_wakeup_enable ( pin type -- 0/err )
    gpio_wakeup_disable ( pin -- 0/err )

    gpio_pullup_en ( pin -- 0/err )
    gpio_pullup_dis ( pin -- 0/err )
    gpio_pulldown_en ( pin -- 0/err )
    gpio_pulldown_dis ( pin -- 0/err )
    gpio_hold_en ( pin -- 0/err )
    gpio_hold_dis ( pin -- 0/err )

    gpio_deep_sleep_hold_en ( -- )
    gpio_deep_sleep_hold_dis ( -- )

    gpio_install_isr_service ( a -- ) Typically ESP_INTR_FLAG_DEFAULT
    gpio_uninstall_isr_service

    gpio_isr_handler_add ( pin xt arg -- 0/err )
    gpio_isr_handler_remove ( pin -- 0/err )

    gpio_set_drive_capability ( pin cap -- 0/err )
    gpio_get_drive_capability ( pin cap* -- 0/err )

    esp_intr_alloc ( source flags xt args handle* -- 0/err )
    esp_intr_free ( handle -- 0/err )

##### Timers

These words are inside the `timers` vocabulary.

    timer_isr_register ( group timer xt arg ret -- 0/err )

##### RMT

These words are inside the `RMT` vocabulary.

    rmt_set_clk_div ( channel div8 -- err )
    rmt_get_clk_div ( channel @div8 -- err )
    rmt_set_rx_idle_thresh ( channel thresh16 -- err )
    rmt_get_rx_idle_thresh ( channel @thresh16 -- err )
    rmt_set_mem_block_num ( channel memnum8 -- err )
    rmt_get_mem_block_num ( channel @memnum8 -- err )
    rmt_set_tx_carrier ( channel enable highlev lowlev carrierlev -- err )
    rmt_set_mem_pd ( channel f -- err )
    rmt_get_mem_pd ( channel @f -- err )
    rmt_tx_start ( channel f -- err )
    rmt_tx_stop ( channel -- err )
    rmt_rx_start ( channel f -- err )
    rmt_rx_stop ( channel -- err )
    rmt_tx_memory_reset ( channel -- err )
    rmt_rx_memory_reset ( channel -- err )
    rmt_set_memory_owner ( channel owner -- err )
    rmt_get_memory_owner ( channel @owner -- err )
    rmt_set_tx_loop_mode ( channel f -- err )
    rmt_get_tx_loop_mode ( channel @f -- err )
    rmt_set_rx_filter ( channel enable thresh8 -- err )
    rmt_set_source_clk ( channel baseclk -- err )
    rmt_get_source_clk ( channel @baseclk -- err )
    rmt_set_idle_level ( channel enable level -- err )
    rmt_get_idle_level ( channel @enable @level -- err )
    rmt_get_status ( channel @status -- err )
    rmt_set_rx_intr_en ( channel enable -- err )
    rmt_set_err_intr_en ( channel enable -- err )
    rmt_set_tx_intr_en ( channel enable -- err )
    rmt_set_tx_thr_intr_en (channel enable thresh -- err )
    rmt_set_gpio ( channel mode gpio# invertsig -- err )
    rmt_config ( rmt_config_t* )
    rmt_isr_register ( fn arg allocflags handle -- err )
    rmt_isr_deregister ( handle -- err )
    rmt_fill_tx_items ( channel @items items# offset -- err )
    rmt_driver_install ( channel rxbufsize allocflags -- err )
    rmt_driver_uinstall ( channel -- err )
    rmt_get_channel_status ( channel @status -- err )
    rmt_get_counter_clock ( channel @clockhz -- err )
    rmt_write_items ( channel @items items# wait -- err )
    rmt_wait_tx_done ( channel time -- err )
    rmt_get_ringbuf_handle ( channel @handle -- err )
    rmt_translator_init ( channel fn -- err )
    rmt_translator_set_context ( channel @context -- err )
    rmt_translator_get_context ( channel @@context -- err )
    rmt_write_sample ( channel src src# wait -- err )
    rmt_register_tx_end_callback --- NOT SUPPORTED
    rmt_memory_rw_rst --- DEPRECATED USE rmt_tx_memory_reset or rmt_rx_memory_reset
    rmt_set_intr_enable_mask --- DEPRECATED interrupt handled by driver
    rmt_clr_intr_enable_mask --- DEPRECATED interrupt handled by driver
    rmt_set_pin --- DEPRECATED use rmt_set_gpio instead

##### Tasks

These words are inside the `TASKS` vocabulary.

    PAUSE ( -- ) Yield to other tasks.
    MS ( n -- ) Pause for some number of milliseconds (yields to other tasks).
    TASK ( xt dsz rsz "name" -- ) Create a new task with dsz size data stack
                                  and rsz size return stack running xt.
    START-TASK ( task -- ) Activate a task.
    .TASKS ( -- ) List running tasks.

    Example:
    tasks
    : hi   begin ." Time is: " ms-ticks . cr 1000 ms again ;
    ' hi 100 100 task my-counter
    my-counter start-task

##### Timers

These words are inside the `TIMERS` vocabulary.
NOTE: These are low level ESP32 timers. For a periodic background operation, you'll probably want to use TASKS.

High Level words:

    ( timer t = 0-3 )

    interval ( xt usec t -- ) Setup timer t to call xt each after usec
    rerun ( t -- ) Rerun timer t triggering

    Example:
    timers
    : hi   ." hi" cr   0 rerun ;
    ' hi 1000000 0 interval ( run hi every second )

Medium Level words:

    timer@ ( t -- lo hi )
    timer! ( lo hi t -- )
    alarm ( t -- a )
    enable! ( f t -- ) Timer enable/disable
    increase! ( f t -- ) Timer increasing/decreasing
    divider! ( n t -- ) Timer divider 2 - 65535
    edgeint! ( f t -- ) Edge trigger
    levelint! ( f t -- ) Level trigger
    alarm-enable! ( f t -- ) Alarm enable
    alarm-enable@ ( t -- f ) Alarm enabled?
    onalarm ( xt t -- ) Set callback

Low Level words:

    ( group n = 0/1, timer x = 0/1, watchdog m = 0-5 )

    TIMGn_TxCONFIG_REG ( n x -- a )
    TIMGn_TxLOHI_REG ( n x -- a )
    TIMGn_TxUPDATE_REG ( n x -- a )
    TIMGn_TxALARMLOHI_REG ( n x -- a )
    TIMGn_TxLOADLOHI_REG ( n x -- a )
    TIMGn_TxLOAD_REG ( n x -- a )

    TIMGn_Tx_WDTCONFIGm_REG ( n m -- a )
    TIMGn_Tx_WDTFEED_REG ( n -- a )
    TIMGn_Tx_WDTWPROTECT_REG ( n -- a )

    TIMGn_RTCCALICFG_REG ( n -- a )
    TIMGn_RTCCALICFG1_REG ( n -- a )

    TIMGn_Tx_INT_ENA_REG ( n -- a )
    TIMGn_Tx_INT_RAW_REG ( n -- a )
    TIMGn_Tx_INT_ST_REG ( n -- a )
    TIMGn_Tx_INT_CLR_REG ( n -- a )

##### RTOS

These words are inside the `RTOS` vocabulary.

    xPortGetCoreID ( -- n )
    xTaskCreatePinnedToCore ( fn name stack-depth params priority taskout coreid -- )
    vTaskDelete ( task ) -- )

### ESP32 WebUI

A terminal over the web can be activated. Contact at port printed or via mDNS http://forth/.

    webui ( network-z password-z -- ) login and start webui
    login ( network-z password-z -- ) login to wifi only

Usage:

    z" NETWORK-NAME" z" PASSWORD" webui

See web_interface.fs.

### Autoexec.fs

NOTE: This section describes one mechanism for running code at startup. See this for an alternate option.

The system will automatically attempt to mount SPIFFS filesystem at `/spiffs`. It will then at start attempt to load `/spiffs/autoexec.fs`

One way this feature can be used to configure the Web UI to start by default. When doing this, be sure to test your Web UI settings work well first.

    r| z" NETWORK-NAME" z" PASSWORD" webui | s" /spiffs/autoexec.fs" dump-file

To remove a previously configured `autoexec.fs` you will need to be able to reboot in a mode with Forth. One way to do this is to search for the line in the .ino file that refers to `autoexec.fs` and replace it with a different name. Then run the following:

    s" /spiffs/autoexec.fs" delete-file

See autoboot.fs.

### Adding Words

Words can be added based on C functions by placing a file named `userwords.h` alongside the .ino file for ESP32forth.
Requires v7.0.6.4+
Before v7.0.6.4, user words required editing the .ino file.

Because of the use of X-Macros words can be added in as little as one line. Locate the macro called `PLATFORM_OPCODE_LIST` and add your words there.

NOTE: Be careful to end each line with a \ so the macros will chain correctly.

To add a word containing only letters, numbers, and underscore you can use `Y`.

    ---- userwords.h ----
    #define USER_WORDS \
      Y(MY_WORD123, c_function_to_call()) \

If your word name contains other characters, instead use `X`. You will need to make up an alternate name for the middle parameter. It must contain only letters, numbers, and underscore. The name is not used anywhere else, but must be unique.

    ---- userwords.h ----
    #define USER_WORDS \
      X("myword!", MY_WORD_BANG, c_function_to_call()) \

Values from the data stack can be accessed via the variables `tos` (Top of Stack) and `sp` (Pointer to the rest of the stack). The stack has the data type `cell_t`.

You can push a value of any type to the stack with the macro `PUSH`:

    ---- userwords.h ----
    #define USER_WORDS \
      Y(MY_WORD, PUSH calculate_magic_value()) \

To simplify calling C functions, you can also refer to elements on the stack with the types positional names:

    n10 n9 n8 n7 n6 n5 n4 n3 n2 n1 n0 - Access stack as cell_t integer values
                       c4 c3 c2 c1 c0 - Access stack as char* values
                       b4 b3 b2 b1 b0 - Access stack as uint8_t* byte values
                 a6 a5 a4 a3 a2 a1 a0 - Access stack as void* values

    Examples:

    ---- userwords.h ----
    void send_message(const char *message, int code);
    ...
    #define USER_WORDS \
      X("send-message", SEND_MESSAGE, send_message(c1, n0)) \

You can always replace the top item on the stack with `SET`:

    ---- userwords.h ----
    #define USER_WORDS \
      Y(DECODE, SET decode_func(n0)) \

You can drop elements from the stack with `DROP` or `DROPn(number)`. You can nip elements from below top of the stack with `NIP` or `NIPn(number)`. Be aware that like `PUSH` this will cause stack indices to change.

    ---- userwords.h ----
    int my_cool_function(char *foo, int bar, uint8_t *baz);
    ...
    #define USER_WORDS \
      Y(MY_FUNC, n0 = my_cool_function(c2, n1, b0); NIPn(2)) \

Multiple C statements can be included in the code area of a word, but care must be taken to generally avoid {}s. If you find you need nesting, a separate function is recommended.

New variables can be declared in each word and are scoped to that word.

    ---- userwords.h ----
    #define USER_WORDS \
      Y(MY_WORD, cell_t foo = n0; DROP; char *x = c0; DROP; \
                 PUSH my_func(foo, x)) \