tasmota · Jason2866 · Feb 1, 2022 · Feb 1, 2022 · Feb 1, 2022 · Feb 1, 2022
diff --git a/cores/esp32/WMath.cpp b/cores/esp32/WMath.cpp
@@ -67,14 +67,14 @@ long random(long howsmall, long howbig)
 }
 
 long map(long x, long in_min, long in_max, long out_min, long out_max) {
-    const long dividend = out_max - out_min;
-    const long divisor = in_max - in_min;
-    const long delta = x - in_min;
-    if(divisor == 0){
-        log_e("Invalid map input range, min == max");
-        return -1; //AVR returns -1, SAM returns 0
+    const long run = in_max - in_min;
+    if(run == 0){
+        log_e("map(): Invalid input range, min == max");
+        return -1; // AVR returns -1, SAM returns 0
     }
-    return (delta * dividend + (divisor / 2)) / divisor + out_min;
+    const long rise = out_max - out_min;
+    const long delta = x - in_min;
+    return (delta * rise) / run + out_min;
 }
 
 uint16_t makeWord(uint16_t w)

diff --git a/docs/ISSUE_TEMPLATE.md b/docs/ISSUE_TEMPLATE.md
diff --git a/docs/source/api/i2c.rst b/docs/source/api/i2c.rst
@@ -381,4 +381,4 @@ Here is an example of how to use the I2C in Slave Mode.
 .. literalinclude:: ../../../libraries/Wire/examples/WireSlave/WireSlave.ino
     :language: arduino
 
-.. _Arduino Wire Library: https://www.arduino.cc/en/reference/wire
+.. _Arduino Wire Library: https://www.arduino.cc/en/reference/wire
diff --git a/docs/source/boards/boards.rst b/docs/source/boards/boards.rst
@@ -98,18 +98,13 @@ Generic Vendor
     .. note::
         Create one file per board or one file with multiple boards. Do not add board information/description on this file.
 
+.. include:: ../common/datasheet.inc
+
 Resources
 ---------
 
-* `ESP32 Datasheet`_ (Datasheet)
-* `ESP32-S2 Datasheet`_ (Datasheet)
-* `ESP32-C3 Datasheet`_ (Datasheet)
-
 .. _Espressif Systems: https://www.espressif.com 
 .. _Espressif Product Selector: https://products.espressif.com/
-.. _ESP32 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32_datasheet_en.pdf
-.. _ESP32-S2 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32-s2_datasheet_en.pdf
-.. _ESP32-C3 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32-c3_datasheet_en.pdf
 
 .. |board_lolin_d32| raw:: html
 

diff --git a/docs/source/boards/generic.rst b/docs/source/boards/generic.rst
@@ -26,9 +26,4 @@ Pin Layout
 
 Add here the pin layout image (not required).
 
-Resources
----------
-
-* `ESP32`_ (Datasheet)
-
-.. _ESP32: https://www.espressif.com/sites/default/files/documentation/esp32_datasheet_en.pdf
+.. include:: ../common/datasheet.inc
diff --git a/docs/source/common/datasheet.inc b/docs/source/common/datasheet.inc
@@ -0,0 +1,13 @@
+Datasheet
+---------
+
+* `ESP32`_ (Datasheet)
+* `ESP32-S2`_ (Datasheet)
+* `ESP32-C3`_ (Datasheet)
+* `ESP32-S3`_ (Datasheet)
+
+.. _Espressif Product Selector: https://products.espressif.com/
+.. _ESP32: https://www.espressif.com/sites/default/files/documentation/esp32_datasheet_en.pdf
+.. _ESP32-S2: https://www.espressif.com/sites/default/files/documentation/esp32-s2_datasheet_en.pdf
+.. _ESP32-C3: https://www.espressif.com/sites/default/files/documentation/esp32-c3_datasheet_en.pdf
+.. _ESP32-S3: https://www.espressif.com/sites/default/files/documentation/esp32-s3_datasheet_en.pdf
diff --git a/docs/source/conf.py b/docs/source/conf.py
@@ -18,11 +18,11 @@
 # -- Project information -----------------------------------------------------
 
 project = 'Arduino-ESP32'
-copyright = '2021, Espressif'
+copyright = '2022, Espressif'
 author = 'Espressif'
 
 # The full version, including alpha/beta/rc tags
-release = '2.0.0'
+release = '2.0.2'
 
 # -- General configuration ---------------------------------------------------
 

diff --git a/docs/source/getting_started.rst b/docs/source/getting_started.rst
@@ -34,10 +34,10 @@ Here are the ESP32 series supported by the Arduino-ESP32 project:
 ======== ====== =========== ===================================
 SoC      Stable Development Datasheet
 ======== ====== =========== ===================================
-ESP32    Yes    Yes         `ESP32 Datasheet`_
-ESP32-S2 Yes    Yes         `ESP32-S2 Datasheet`_
-ESP32-C3 Yes    Yes         `ESP32-C3 Datasheet`_
-ESP32-S3 No     No          `ESP32-S3 Datasheet`_
+ESP32    Yes    Yes         `ESP32`_
+ESP32-S2 Yes    Yes         `ESP32-S2`_
+ESP32-C3 Yes    Yes         `ESP32-C3`_
+ESP32-S3 No     Yes         `ESP32-S3`_
 ======== ====== =========== ===================================
 
 See `Boards <boards/boards.html>`_ for more details about ESP32 development boards.
@@ -91,7 +91,9 @@ Before opening a new issue, please read this:
 Be sure to search for a similar reported issue. This avoids duplicating or creating noise in the GitHub Issues reporting.
 We also have the troubleshooting guide to save your time on the most common issues reported by users.
 
-For more details, see the `Issue Template <https://github.com/espressif/arduino-esp32/blob/master/docs/ISSUE_TEMPLATE.md>`_.
+For more details about creating new Issue, see the `Issue Template <https://github.com/espressif/arduino-esp32/blob/master/.github/ISSUE_TEMPLATE/Issue-report.yml>`_.
+
+If you have any new idea, see the `Feature request Template <https://github.com/espressif/arduino-esp32/blob/master/.github/ISSUE_TEMPLATE/Feature-request.yml>`_.
 
 First Steps
 -----------
@@ -114,15 +116,14 @@ in the examples menu or inside each library folder.
 
     https://github.com/espressif/arduino-esp32/tree/master/libraries
 
+
+.. include:: common/datasheet.inc
+
 Resources
 ---------
 
 .. _Espressif Systems: https://www.espressif.com 
 .. _Espressif Product Selector: https://products.espressif.com/
-.. _ESP32 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32_datasheet_en.pdf
-.. _ESP32-S2 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32-s2_datasheet_en.pdf
-.. _ESP32-C3 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32-c3_datasheet_en.pdf
-.. _ESP32-S3 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32-s3_datasheet_en.pdf
 .. _Arduino.cc: https://www.arduino.cc/en/Main/Software
 .. _Arduino Reference: https://www.arduino.cc/reference/en/
 .. _ESP32 Forum: https://esp32.com

diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -8,7 +8,7 @@ Here you will find all the relevant information about the project.
    This is a work in progress documentation and we will appreciate your help! We are looking for contributors! 
 
 .. toctree::
-   :maxdepth: 2
+   :maxdepth: 1
    :caption: Contents:
 
    Getting Started <getting_started>

diff --git a/docs/source/libraries.rst b/docs/source/libraries.rst
@@ -64,12 +64,7 @@ Notes
 
 .. note:: Some peripherals are not available for all ESP32 families. To see more details about it, see the corresponding SoC at `Product Selector <https://products.espressif.com>`_ page.
 
-Datasheet
-^^^^^^^^^
-
-* `ESP32 <https://www.espressif.com/sites/default/files/documentation/esp32_datasheet_en.pdf>`_
-* `ESP32-S2 <https://www.espressif.com/sites/default/files/documentation/esp32-s2_datasheet_en.pdf>`_
-* `ESP32-C3 <https://www.espressif.com/sites/default/files/documentation/esp32-c3_datasheet_en.pdf>`_
+.. include:: common/datasheet.inc
 
 APIs
 ----
@@ -78,13 +73,6 @@ The Arduino ESP32 offers some unique APIs, described in this section:
 
 .. toctree::
     :maxdepth: 1
+    :glob:
 
-    Bluetooth <api/bluetooth>
-    Deep Sleep <api/deepsleep>
-    ESPNOW <api/espnow>
-    GPIO <api/gpio>
-    I2C <api/i2c>
-    RainMaker <api/rainmaker>
-    Reset Reason <api/reset_reason>
-    USB <api/usb.rst>
-    Wi-Fi <api/wifi>
+    api/*
diff --git a/docs/source/tutorials/io_mux.rst b/docs/source/tutorials/io_mux.rst
@@ -62,7 +62,7 @@ JTAG                            Dedicated GPIOs
 SD/SDIO/MMC HostController      Dedicated GPIOs
 Motor PWM                       Any GPIO
 SDIO/SPI SlaveController        Dedicated GPIOs
-UART                            Any GPIO
+UART                            Any GPIO[1]
 I2C                             Any GPIO
 I2S                             Any GPIO
 LED PWM                         Any GPIO
@@ -72,8 +72,11 @@ Parallel QSPI                   Dedicated GPIOs
 EMAC                            Dedicated GPIOs
 Pulse Counter                   Any GPIO
 TWAI                            Any GPIO
+USB                             Dedicated GPIOs
 ==============================  ===================================
 
+[1] except for the download/programming mode decided by the bootloader.
+
 This table is present on each datasheet provided by Espressif.
 
 Usage Examples
@@ -106,16 +109,11 @@ To change the pins, we must call the ``Wire.setPins(int sda, int scl);`` functio
 
 A similar approach also applies for the other peripherals.
 
+.. include:: ../common/datasheet.inc
+
 Resources
 ---------
 
-* `ESP32`_ (Datasheet)
-* `ESP32-S2`_ (Datasheet)
-* `ESP32-C3`_ (Datasheet)
-
 .. _Espressif Systems: https://www.espressif.com 
 .. _Espressif Product Selector: https://products.espressif.com/
-.. _ESP32: https://www.espressif.com/sites/default/files/documentation/esp32_datasheet_en.pdf
-.. _ESP32-S2: https://www.espressif.com/sites/default/files/documentation/esp32-s2_datasheet_en.pdf
-.. _ESP32-C3: https://www.espressif.com/sites/default/files/documentation/esp32-c3_datasheet_en.pdf
 .. _IO MUX GPIO: https://www.espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf#iomuxgpio
diff --git a/libraries/ESP32/examples/Camera/CameraWebServer/CameraWebServer.ino b/libraries/ESP32/examples/Camera/CameraWebServer/CameraWebServer.ino
@@ -62,6 +62,7 @@ void setup() {
     config.frame_size = FRAMESIZE_SVGA;
     config.jpeg_quality = 12;
     config.fb_count = 1;
+    config.fb_location = CAMERA_FB_IN_DRAM;
   }
 
 #if defined(CAMERA_MODEL_ESP_EYE)