ESP32で古時計の精度改善

ソースコードは、重力振り子用の構成になっています。
//*** WIFI SETTING　の下2行がWiFiのSSIDとパスコードの設定部分です。

EPS32がインストールされているArduino IDEで、ボードとして「WEMOS LOLIN32」を選択してコンパイルします。

起動後、OLEDに表示されるIPアドレスに、ブラウザ（ChromeとFireFox以外は試してないです）からアクセスし、「Config」メニューの「Pendulum XX cycles = YY sec」で時計のギヤ比（YY秒間で振り子がXX回往復）を、「Pend Cycle between Tune: ZZ」で修正間隔（振り子ZZ回往復ごとにコイル電流を更新、1分に1回程度で良いと思います）を設定して「Apply」し、再度「Config」から「Reboot」すれば、とりあえずは動くはずです。


回転振り子については、#define GRAVITYをコメントアウトし、#define TORSIONを生かしてコンパイルします。センサーの設置位置などが微妙で、条件が変わるとソースコード中の定数の調整も必要と思われます。

	//
	// Automatic Clock Tuner
	// by Kiraku Labo
	//
	#include <SPIFFS.h>
	#include <WiFiUdp.h>
	#include <HTTPClient.h>
	#include <ArduinoOTA.h>
	#include <ESPAsyncWebServer.h>
	#include <AsyncTCP.h>
	#include <SSD1306Wire.h>
	#include <WiFi.h>
	#define GRAVITY //Gravity pendulum clock
	//#define TORSION //Torsion pendulum clock
	#define TZ_STR0 "JST-9"
	#define TZ_STR1 "CET-1CEST-2,M3.5.0/02:00:00,M10.5.0/03:00:00"
	#define TZ_STR2 "CST6CDT5,M3.2.0/02:00:00,M11.1.0/02:00:00"
	#define TZ_STR3 "NZST-12NZDT-13,M9.5.0/02:00:00,M4.1.0/2:00:00"
	#ifdef GRAVITY
	#define DISP_INVERTED
	#define L9110
	#define A3144 //Mag sensor (Hall)
	#define DEFAULT_PEND_CYCLE 748 //PEND_CYCLE pendulum cycles per PEND_DUR seconds
	#define DEFAULT_PEND_DUR 735
	#define DEFAULT_TUNE_CYCLE 60
	#define DEFAULT_PEND_LF 1 //lift factor
	#define DEFAULT_KP 900
	#define DEFAULT_KI 200
	#endif
	#ifdef TORSION
	#define DISP_INVERTED
	#define L9110
	#define HMC5883 //Mag sensor (Digital compass)
	#define MAG_THRESH_H 3000
	#define MAG_THRESH_L 2000
	#define DEFAULT_PEND_CYCLE 1 //PEND_CYCLE pendulum cycles per PEND_DUR seconds
	#define DEFAULT_PEND_DUR 10
	#define DEFAULT_TUNE_CYCLE 15
	#define DEFAULT_PEND_LF 270 //swing angle
	#define DEFAULT_KP 250
	#define DEFAULT_KI 50
	#endif
	#define DEFAULT_NTP_BY_NAME true
	#define DEFAULT_STA_IP_FIX "0" //1:Fix 0:DNS
	#define DEFAULT_DATE_FORMAT 1 //1:JP, 2:EU, 3:US
	//*** WIFI SETTING
	const char* DEFAULT_WIFI_SSID="xxxxxxxx";
	const char* DEFAULT_WIFI_PASS="yyyyyyyy";
	//***
	const char* DEFAULT_STA_GW="192.168.0.1";
	const char* DEFAULT_SUBNET="255.255.255.0";
	const char* DEFAULT_STA_DNS="192.168.0.1";
	const char* DEFAULT_NTP_IP="210.173.160.87";
	const char* DEFAULT_NTP_NAME="ntp.nict.jp";
	const char* DEFAULT_TZ_STR=TZ_STR0;
	const char* DEFAULT_STA_IP="192.168.0.112";
	const char* apSsid="cTune";
	const char* apPass="12345678";
	const String verLetter="V";
	const String fileVer="A"+verLetter; //if file ver is different, load default setting
	const String project="cTune";
	const String verNum="323p";
	#define DEFAULT_NTP_MIN_INTERVAL 3 //minute
	#define DEFAULT_NTP_MAX_INTERVAL 60 //minute
	#ifdef HMC5883
	#define MAX_NTP_TIMEOUT 1000 //msec
	#else
	#define MAX_NTP_TIMEOUT 3000 //msec
	#endif
	#define INITIAL_NTP_VALID 100 //msec
	#define N_NTP_IP_HISTORY 20
	#define BUF_SIZE 200
	#define N_NTP_HISTORY 300
	#define PRE_CYCLE_MS 8000 //8 sec worth of cycles before setRef
	#define N_HISTORY 1500
	#define MIN_HEAP 15000
	#define NUM_GRAPH_SPAN 1440 //points, must be less than N_HISTORY
	#define NTP_PACKET_SIZE 48
	#define SEVENTY_YEARS 2208988800UL
	#define SCREEN_W 128
	#define SCREEN_H 64
	#define CENTER_W (SCREEN_W/2)
	#define CHAR_W 8
	#define CHAR_H 16
	#define GTOP 33
	#define GBOTTOM 63
	#define GYCENTER 48 // y axis 0
	#define GXORIGIN 2
	#define GRAPH_W (SCREEN_W-GXORIGIN-3)
	#define OLEDFONT ArialMT_Plain_16
	#define CONFIG_FILE "/config.file"
	#define G2_INTERVAL 15 //points
	#define G2_THRESH 1500 //points
	#define ADJ_MAX 1023 //must be 63 or more, see ##1
	#define ADJ_MIN -1023
	#define ONOFF_MODE_THRESH 500 //csec (1/100 sec), If difference is greater than this value, coil is driven in full power.
	#define PRECISE_MODE_THRESH 100 //csec, In Onoff mode, when the error becomes within this range, Onoff mode ends.
	#define ERROR_LIMIT -43200 //=12H If error (in sec) <this value (big delay), coil power is disabled
	#define NTP_OFFSET_THRESH_H 20000 //usec
	#define NTP_OFFSET_THRESH_L 10000 //usec
	#define LIFT_SWING 100 //Lift Factor vs Swing Angle threshold
	#define SENS_PIN 15
	#define LED_PIN 13
	#ifdef COIL_POLARITY
	#define DRV1_PIN 14
	#define DRV2_PIN 12
	#else
	#define DRV1_PIN 12
	#define DRV2_PIN 14
	#endif
	#define SDA_PIN 5
	#define SCL_PIN 4
	#define DMARGIN 0
	#define BTN_PIN 0
	#define LED_ON HIGH
	#define LED_OFF LOW
	#if defined(A3144)
	#define SENSOR_ON LOW
	#define SENSOR_OFF HIGH
	#else
	#define SENSOR_ON HIGH
	#define SENSOR_OFF LOW
	#endif
	#if defined(HMC5883)
	#define MAG_ADDR 0x1E
	#endif
	struct tm tmAtRef0Local, tmAtSetTimeLocal, tmAtResetMMLocal, tmSynchLocal;
	struct timeval tvAtNtpSuccess, tvAtSensTrig, tvAtRef0, tvAtResetMM, tvAtNtpFail, tvGmtNow, tvAtNtpServerSet;
	struct timeval tvNtpRef, tvNtpOrig, tvNtpRecv, tvNtpTrans, tvStart, tvEnd;
	int32_t ntpDelay, ntpOffset, ntpOffsetPerMin=0;
	float ntpDelayAve=INITIAL_NTP_VALID*500;
	boolean serialMon=false;
	const String textHtml="text/html";
	int32_t errorHistory[2][N_HISTORY]; //csec
	int16_t adjHistory[2][N_HISTORY];
	time_t tHistory[2][N_HISTORY]; //sec
	time_t gmtLast=0, gmtAtSec=0, gmtNow;
	int16_t adjLevel=0, adjLevelMax=0, adjLevelMin=0;
	float cadjLevelAve=0.0;
	int32_t numHistory[2]={-1, -1};
	boolean adjOn=true;
	boolean onoffMode=false;
	boolean timeWasSynched=false, setRefReady=false;
	int16_t adjGraphFactor=5*(ADJ_MAX+1)/64;
	uint16_t ntpIPHistoryIdx=0;
	uint16_t lcdGrAltSec=10;
	volatile boolean refSet=false;
	volatile int32_t countPend=0;
	volatile boolean sensTrig=false; //, trigWindow=false;
	volatile boolean sensRelease=false;
	volatile int16_t pendDir=0;
	volatile uint32_t milliSensLast=0, milliSensTrig=0, milliSensRelease=0, milliSensDur=0;
	volatile int64_t csecPend=0;
	char strBuf[BUF_SIZE];
	byte packetBuffer[NTP_PACKET_SIZE];
	boolean shortPush=false, longPush=false, longlongPush=false;
	uint32_t buttonMilli=0;
	time_t tLocal;
	time_t tzStart=0, tzEnd=0;
	int32_t tzOffset=0;
	boolean tzDstObs=false;
	int tzDst=0;
	int32_t csecPendError=0, csecPendErrorMax=0, csecPendErrorMin=0, csecPendErrorLast=0;
	int32_t cadjLevel=0;
	uint32_t ntpTurnaround;
	byte gSpanUnitIdx=1; //0:h 1:d 2:w
	byte gYEscaleIdx=0;
	byte gYCscaleIdx=0;
	uint32_t graphSpan=24*3600; //in seconds
	String gYEscaleMM, gYCscaleMM;
	const uint32_t gSpanUnit[] = {3600, 3600*24, 24*7*3600};
	const String gSpanUnitStr[] = {"h", "d", "w"};
	const String gYEscaleStr[] = {"Auto", "1s", "5s ", "20s", "100s"};
	const String gYCscaleStr[] = {"Auto", "20", "100", "500", "2000"};
	const int16_t gYEscaleNum[] = {0,1,5,20,100};
	const int16_t gYCscaleNum[] = {0,20,100,500,2000};
	const int16_t ngY1scaleNum[] = {10,20,50,100};
	byte ngY1scaleIdx=0;
	int16_t gYEscale=0, gYCscale=0;
	byte ntpPacketId=0;
	byte ntpInvalidCount=0;
	boolean ntpByName=DEFAULT_NTP_BY_NAME;
	uint16_t countConsecutiveDec=0;
	float pendPeriod;
	int32_t partial0Start;
	int32_t partial0End;
	WiFiUDP udp;
	HTTPClient http;
	AsyncWebServer server(80);
	SSD1306Wire oled(0x3c, SDA_PIN, SCL_PIN);
	const IPAddress apSNM(255,255,255,0);
	IPAddress staIP;
	IPAddress staGateway;
	IPAddress staSNM;
	IPAddress staDNS;
	IPAddress ntpIP;
	IPAddress ntpIPbyIP;
	IPAddress ntpIPHistory[N_NTP_IP_HISTORY];
	time_t ntpIPTimeHistory[N_NTP_IP_HISTORY];
	const String msgHead =
	"<html><head><meta charset='UTF-8'><title>Kiraku Labo</title>\
	<style>body{width:95%;margin:0;padding:30;background-color:#dddddd;text-align:center;font-size:36pt}\
	h1{font-size:40pt} h2{font-size:36pt} p{font-size:36pt} button{font-size:50pt}\
	input[type=submit]{font-size:50pt}\
	input[type=radio]{width:50px;height:50px;vertical-align:middle}\
	input[type=text]{width:500px;font-size:36pt;margin-right:50px}\
	input[type=number]{width:130px;font-size:36pt;margin-right:0px}\
	span{display:inline-block;width:350px;text-align:right}\
	form{display:inline}</style>\
	</head><body><h1>Kiraku Labo " + project + " " + verLetter+verNum +"</h1>";
	String msgHome =
	"<form action='CF'><input type='submit' value='Config'></form> \
	<form action='SA'><input type='submit' value='Sens Adj'></form> \
	<form action='MR'><input type='submit' value='Rst M/M'></form><br>\
	<form action='H0'><input type='submit' value='Hand 0s'></form>\
	<form action='EZ'><input type='submit' value='Err 0'></form>\
	<form id='form2' action='SE'><button type='submit' form='form2'>Err +/-</button>\
	<input id='EV' name='EV' type='number' step='0.1' value='0' style='font-size:50pt'>s</form><br>\
	<form action='TC'><input type='submit' value='Tgl Ctrl'></form>\
	<form id='form3' action='SO'><button type='submit' form='form3'>Set Current</button>\
	<input id='OV' name='OV' type='number' value='0' max='1023' min='-1023' style='font-size:50pt;width:200px'></form><br>\
	<form action='ST'><input type='submit' value='Home'></form> \
	<form action='GR'><input type='submit' value='Accuracy'></form>";
	const String msgEnd = "</body></html>";
	const String msgYesNo= "<form action='YS'><input type='submit' value='Yes'></form>\
	<form action='NO'><input type='submit' value=' No '>";
	const String msgChartHead = "<canvas id='myChart' width='400' height='250'></canvas>\
	<script src='https://cdnjs.cloudflare.com/ajax/libs/Chart.js/2.7.1/Chart.bundle.min.js'></script>\
	<script>Chart.defaults.global.defaultFontSize=30;";
	int32_t pendCycle, pendDur;
	String msgConf;
	String wifiSSID, wifiPass, ntpServerName, tzStr;
	String strVer, strPC, strPD, strPT, strKP, strKI, strLF, strWS, strWP, strIF, strIL, strIG, strID, strIS, strNF, strNN, strNI, strNV, strNX, strTZ, strDF;
	boolean staIpFixed=false, apOnly=false, wifiDefined=false;
	byte dateFormat=0;
	const String dateFmtYMD[4]={"%Y/%m/%d", "%Y/%m/%d", "%d/%m/%Y", "%m/%d/%Y"};
	const String dateFmtMD[4]={"%m/%d", "%m/%d", "%d/%m", "%m/%d"};
	const String dateStr[4]={"", "yyyy/mm/dd", "dd/mm/yyyy", "mm/dd/yyyy"};
	volatile uint32_t microSensTrig=0;
	volatile boolean sensAdjMode=false;
	byte lcdGmode=0; //0:alternate, 1:error, 2:Current
	int32_t ntpDelayLimitUs=INITIAL_NTP_VALID*1000;
	int16_t magX, magY, magZ;
	int32_t minSensOffDuration, minSensOnDuration, trigWindowSpan, pendWindow;
	int16_t kP, kI, liftFactor;
	int32_t preCount;
	int32_t tuneInterval; //in sec
	int32_t tuneIntervalMs; //in msec
	int16_t pendTuneCycle; //cycles per tune
	uint32_t pendPeriodMs;
	int32_t secTmAdj, usecTmAdj;
	int16_t ntpInterval, ntpMinInterval, ntpMaxInterval;
	boolean ntpFirstOffset=true;
	int32_t ntpInterporateAccum=0, ntpInterporateCount=0;
	int64_t trigDelay=0;
	uint32_t msecInterporate=0, msecNTP=0;
	uint32_t msecTune=0;
	uint32_t ntpSynchCount=0, ntpIntervalInc=0, ntpIntervalDec=0;
	uint16_t ntpY1Scale=20, ntpY2Scale=200;
	const int32_t gscaleE[]={10,20,50,100,200,500,1000,2000,5000,10000,20000,50000,100000,200000,500000}; //x0.01sec
	const int16_t gscaleA[]={5,10,20,50,100,200,500,1000};
	const int16_t numgE=sizeof(gscaleE)/sizeof(gscaleE[0]);
	const int16_t numgA=sizeof(gscaleA)/sizeof(gscaleA[0]);
	const uint32_t i2cTimeout=10; //msec
	byte i2cStatus;
	void (*funcPtrYes)(AsyncWebServerRequest *request)=NULL;
	void (*funcPtrNo)(AsyncWebServerRequest *request)=NULL;
	void (*funcPtrWeb)(AsyncWebServerRequest *request)=NULL;
	AsyncWebServerRequest *funcReqWeb;
	void sensInt() {
	uint32_t milliAtInt=millis();
	int16_t sns=digitalRead(SENS_PIN);
	if (pendDir==0 && sns==SENSOR_ON && (milliAtInt-milliSensRelease)>minSensOffDuration) {
	pendDir=1;
	if (!sensAdjMode) ledOn();
	sensTrig=true;
	microSensTrig=micros();
	milliSensTrig=milliAtInt;
	if (refSet) {
	countPend++;
	csecPend=(int64_t)countPend * (int64_t)pendDur * 100 / (int64_t)pendCycle;
	}
	}
	else if (pendDir==1 && sns==SENSOR_OFF && (milliAtInt-milliSensTrig)>minSensOnDuration) {
	pendDir=0;
	if (!sensAdjMode) ledOff();
	sensRelease=true;
	milliSensRelease=milliAtInt;
	}
	}
	void setup() {
	disableCore0WDT();
	disableCore1WDT();
	SPIFFS.begin(true);
	Serial.begin(115200);
	Wire.begin(SDA_PIN, SCL_PIN);
	pinMode(BTN_PIN, INPUT_PULLUP);
	pinMode(LED_PIN, OUTPUT);
	ledOff();
	setupOled();
	#ifdef DISP_INVERTED
	oled.flipScreenVertically();
	#endif
	oled.setTextAlignment(TEXT_ALIGN_LEFT);
	Wire.setClock(50000); //external i2c 50khz
	lcdDispText(0, 0, project+" "+verLetter+verNum);
	#if defined(HMC5883)
	setupHMC5883();
	#endif
	boolean errConfig=false;
	if (SPIFFS.exists(CONFIG_FILE)) {
	if (!loadConfigFile()) {
	loadDefaultConfig();
	errConfig=true;
	}
	}
	else {
	loadDefaultConfig();
	errConfig=true;
	}
	setConfigPara();
	setConfigMsg();
	if (errConfig) saveConfigFile(); //saveConfigFile() destroys strXX
	ntpInterval=ntpMinInterval;
	setupMechTiming();
	preCount=PRE_CYCLE_MS/pendPeriodMs;
	if (preCount<3) preCount=3;
	setupWifi();
	setupServer();
	while(!wifiConnected()); //if no wifi, infinite loop here
	setupOta();
	setupNtp();
	int ret;
	int32_t limit;
	do {
	limit=ntpDelayLimitUs;
	ret=synchTime(1); //use transmit timestamp
	lcdDispText(0,0, "E" + String(ret) + " TA=" + String(ntpTurnaround) + "/" + String(limit/1000) + " ");
	delay(5000);
	} while (ret!=0);
	tvAtNtpServerSet=tvAtNtpSuccess;
	ntpIPHistory[0]=ntpIP;
	ntpIPTimeHistory[0]=tvAtNtpServerSet.tv_sec;
	do {
	limit=ntpDelayLimitUs;
	ret=synchTime(0); //use offset
	lcdDispText(0,0, "E" + String(ret) + " D=" + String(ntpDelay/1000) + "/" + String(limit/1000) + " ");
	delay(5000);
	} while (ret!=0);
	updateNtpValidDelay();
	setDst();
	#if defined(HMC5883)
	ledcSetup(1, 50000, 10); //LEDC_CHANNEL, LEDC_FREQUENCY, LEDC_RESOLUTION_BITS
	ledcSetup(2, 50000, 10);
	#else
	ledcSetup(1, 100, 10); //LEDC_CHANNEL, LEDC_FREQUENCY, LEDC_RESOLUTION_BITS
	ledcSetup(2, 100, 10);
	#endif
	ledcAttachPin(DRV1_PIN, 1); //PIN, LEDC_CHANNEL
	ledcAttachPin(DRV2_PIN, 2);
	drvCoil(0);
	pinMode(SENS_PIN, INPUT_PULLUP);
	#if !defined(HMC5883)
	attachInterrupt(digitalPinToInterrupt(SENS_PIN), sensInt, CHANGE);
	#endif
	}
	void loop() {
	int sec;
	#if defined(HMC5883)
	getHMC5883();
	if (sensAdjMode) dispMag();
	int16_t magValue=abs16(magX)+abs16(magY)+abs16(magZ);
	if (magValue>MAG_THRESH_H) magTrigH();
	else if (magValue<MAG_THRESH_L) magTrigL();
	#else
	if (sensAdjMode) {
	if (digitalRead(SENS_PIN)==SENSOR_ON) ledOn();
	else ledOff();
	}
	#endif
	if (sensTrig) {
	sensTrig=false;
	gettimeofday(&tvAtSensTrig, NULL);
	#if !defined(HMC5883)
	trigDelay=(int64_t)(micros()-microSensTrig);
	if (trigDelay<0) trigDelay=0;
	convUsec2Tv(convTv2Usec(&tvAtSensTrig) - trigDelay, &tvAtSensTrig);
	#endif
	pendIndicator(WHITE);
	ledOn();
	if (refSet) {
	if (countPend%pendTuneCycle==0) {
	updateError();
	lcdDispError();
	tune();
	lcdDispGraph();
	}
	else {
	updateError();
	if (!sensAdjMode) {
	lcdDispError();
	lcdDispGraph();
	}
	}
	}
	if (preCount>=0) {
	if (preCount==0) {
	#ifdef HMC5883
	sec=tvAtSensTrig.tv_sec%60;
	if (sec>=1 && sec<26) {
	preCount=-1;
	setRef0();
	tune();
	}
	#else
	preCount=-1;
	setRef0();
	tune();
	#endif
	}
	else preCount--;
	}
	if (refSet) lcdDispNum4n(0,0,countPend%pendTuneCycle);
	}
	else if (sensRelease) {
	sensRelease=false;
	pendIndicator(BLACK);
	ledOff();
	}
	gettimeofday(&tvGmtNow, NULL);
	gmtNow=tvGmtNow.tv_sec;
	if (gmtNow>gmtLast) { //every 1 sec
	gmtAtSec=gmtNow;
	gmtLast=gmtNow;
	sec=gmtNow%60;
	if (preCount>0) lcdDispTime(0,0,1); //date & time
	else lcdDispTime(5,0,2); //time only
	if (millis()-milliSensTrig>pendWindow && refSet) {
	tvAtSensTrig=tvGmtNow;
	updateError();
	if (!sensAdjMode) {
	lcdDispError();
	lcdDispGraph();
	}
	}
	if (sec==30) {
	if (wifiConnected()) {
	if (gmtAtSec>=tvAtNtpSuccess.tv_sec + ntpInterval*60) {
	if (millis()-msecNTP>30000) {
	msecNTP=millis();
	if (synchTime(0)==0) {
	updateNtpValidDelay();
	}
	else if (!ntpFirstOffset) interporateTime();
	}
	}
	else if (!ntpFirstOffset) interporateTime();
	}
	else WiFi.begin(wifiSSID.c_str(), wifiPass.c_str());
	if (millis()-milliSensTrig>pendWindow && refSet) tune();
	}
	}
	if (funcPtrWeb) {
	funcPtrWeb(funcReqWeb);
	funcPtrWeb=NULL;
	}
	if (liftFactor>=LIFT_SWING) { //partial drive anniversary clock
	uint32_t msPd=millis()-milliSensTrig;
	if (msPd>partial0Start && msPd<partial0End) {
	drvCoil(0);
	}
	else {
	drvCoil(adjLevel);
	}
	}
	senseButton();
	ArduinoOTA.handle();
	yield();
	}
	void dispMag() {
	char lcdbuf[13];
	snprintf(lcdbuf, 19, "X= %s%05d", magX>=0?" ":"-", abs16(magX));
	lcdDispText2(0,1, lcdbuf, 80);
	snprintf(lcdbuf, 19, "Y= %s%05d", magY>=0?" ":"-", abs16(magY));
	lcdDispText2(0,2, lcdbuf, 80);
	snprintf(lcdbuf, 19, "Z= %s%05d", magZ>=0?" ":"-", abs16(magZ));
	lcdDispText2(0,3, lcdbuf, 80);
	// Serial.print(magX);Serial.print(",");Serial.print(magY);Serial.print(",");
	// Serial.println(magZ);
	}
	int16_t abs16(int16_t x) {
	if (x>=0) return x;
	else return -x;
	}
	int32_t abs32(int32_t x) {
	if (x>=0) return x;
	else return -x;
	}
	int64_t abs64(int64_t x) {
	if (x>=0) return x;
	else return -x;
	}
	void setRef0() {
	countPend=0;
	refSet=true;
	tvAtRef0=tvAtSensTrig;
	localtime_r(&tvAtRef0.tv_sec, &tmAtRef0Local);
	tvAtResetMM=tvAtRef0;
	tmAtResetMMLocal=tmAtRef0Local;
	numHistory[0]=0;
	numHistory[1]=0;
	tHistory[0][0]=tvAtRef0.tv_sec;
	tHistory[1][0]=tvAtRef0.tv_sec;
	milliSensLast=milliSensTrig;
	csecPendError=0;
	csecPendErrorLast=0;
	adjLevelMax=0;
	adjLevelMin=0;
	csecPendErrorMax=0;
	csecPendErrorMin=0;
	sendStat();
	}
	void sendStat() {
	milliSensDur=milliSensTrig-milliSensLast;
	milliSensLast=milliSensTrig;
	struct tm tl;
	localtime_r(&tvAtSensTrig.tv_sec, &tl);
	snprintf(strBuf, BUF_SIZE, "PEND:%02d/%02d %02d:%02d:%02d.%03d Intv=%04d Cnt=%d Hst=%d TrigD=%d Err=%.2f Out=%d Ave=%.2f",
	tl.tm_mon+1, tl.tm_mday, tl.tm_hour, tl.tm_min, tl.tm_sec, tvAtSensTrig.tv_usec/1000,
	milliSensDur, countPend, numHistory[0], (int32_t)trigDelay, (float)csecPendError/100.0, adjLevel, cadjLevelAve/100.0);
	dbgPrintln(strBuf);
	}
	void pendIndicator(OLEDDISPLAY_COLOR color) {
	oled.setColor(color);
	oled.fillCircle(124, 25, 3);
	oled.display();
	}
	void tune() {
	numHistory[0]++;
	int16_t idx=numHistory[0] % N_HISTORY;
	if (adjOn) {
	adjPend();
	lcdDispNum4n(9,1,adjLevel);
	}
	csecPendErrorLast=csecPendError;
	errorHistory[0][idx]=csecPendError;
	if (!onoffMode) cadjLevelAve = cadjLevelAve * 0.97 + (float)cadjLevel * 0.03;
	adjHistory[0][idx]=adjLevel;
	tHistory[0][idx]=gmtAtSec;
	if (numHistory[0]%G2_INTERVAL==0) {
	numHistory[1]++;
	int16_t idx2=numHistory[1] % N_HISTORY;
	errorHistory[1][idx2]=csecPendError;
	adjHistory[1][idx2]=adjLevel;
	tHistory[1][idx2]=gmtAtSec;
	}
	sendStat();
	}
	void updateError() {
	csecPendError=(int32_t)(csecPend - (100*(int64_t)(tvAtSensTrig.tv_sec-tvAtRef0.tv_sec) +(int64_t)(tvAtSensTrig.tv_usec-tvAtRef0.tv_usec)/10000));
	if (csecPendError>csecPendErrorMax) {
	csecPendErrorMax=csecPendError;
	// sendStat();
	}
	if (csecPendError<csecPendErrorMin) {
	csecPendErrorMin=csecPendError;
	// sendStat();
	}
	}
	void lcdDispError() {
	lcdDispNumF(0,1, csecPendError);
	}
	void adjPend() {
	msecTune=millis();
	if (abs32(csecPendError)>ONOFF_MODE_THRESH) onoffMode=true;
	if (onoffMode) {
	if (csecPendError>PRECISE_MODE_THRESH) cadjLevel=ADJ_MIN*100/(liftFactor<LIFT_SWING?liftFactor:1);
	else if (csecPendError<-PRECISE_MODE_THRESH) cadjLevel=ADJ_MAX*100;
	else {
	onoffMode=false;
	cadjLevel=(int32_t)cadjLevelAve;
	}
	}
	else {
	int32_t cadjLevelDelta = (int32_t) ((csecPendError-csecPendErrorLast)*kP/tuneInterval + csecPendError*kI/100); //use per-min rate factor of 60/tuneInterval
	cadjLevelDelta *= (ADJ_MAX+1)/64; //##1
	cadjLevel = constrain(cadjLevel-cadjLevelDelta, ADJ_MIN*100/(liftFactor<LIFT_SWING?liftFactor:1), ADJ_MAX*100);
	}
	if (csecPendError<ERROR_LIMIT*100) cadjLevel=0;
	adjLevel=cadjLevel/100;
	if (liftFactor<LIFT_SWING) { //gravity pend
	drvCoil(adjLevel);
	}
	if (adjLevel>adjLevelMax) adjLevelMax=adjLevel;
	if (adjLevel<adjLevelMin) adjLevelMin=adjLevel;
	}
	void drvCoil(int16_t pwr) {
	if (pwr>=0) {
	ledcWrite(1, 0);
	ledcWrite(2, pwr);
	}
	else {
	ledcWrite(2, 0);
	ledcWrite(1, -pwr);
	}
	}
	void senseButton() {
	int button=digitalRead(BTN_PIN);
	if (button==LOW) {
	if (shortPush==false) {
	shortPush=true;
	longPush=false;
	longlongPush=false;
	buttonMilli=millis();
	}
	else {
	if (millis()-buttonMilli>1000) {
	if (!longPush) { //disp WiFi status
	longPush=true;
	clearGraph();
	if (WiFi.status()==WL_CONNECTED) lcdDispText(0,2, wifiSSID.c_str());
	else lcdDispText(0,2, "WiFi NG ");
	lcdDispText(0,3, WiFi.localIP().toString());
	}
	else if (millis()-buttonMilli>2000) {
	if (!longlongPush) { //long long push
	longlongPush=true;
	}
	}
	}
	}
	}
	else {
	if (shortPush==true) {
	shortPush=false;
	if (!longPush && !longlongPush) { //short push = lcd graph mode
	lcdGmode = (lcdGmode+1)%3;
	}
	}
	}
	}
	int64_t convTv2Usec(struct timeval* tv) {
	return (int64_t)(tv->tv_sec)*1000000 + (int64_t)(tv->tv_usec);
	}
	void convUsec2Tv(int64_t t, struct timeval* tv) {
	tv->tv_sec=(time_t)(t/1000000);
	tv->tv_usec=(uint32_t)(t%1000000);
	}
	int synchTime(byte synchMode) { //syncMode 0= use offset, 1=use Transmit timestamp
	struct timeval tv1, tv2;
	int ret=getNTPTime(synchMode);
	if (ret==0) { //validity is OK
	if (synchMode==1) { //transfer
	settimeofday(&tvNtpTrans, NULL);
	tvAtNtpSuccess=tvNtpTrans;
	}
	else if (synchMode==0) { //offset mode
	ntpSynchCount++;
	if (ntpFirstOffset) {
	ntpInterval=ntpMinInterval;
	ntpOffset /= ntpInterval;
	ntpOffsetPerMin=ntpOffset;
	ntpDelayAve=(float)ntpDelay;
	ntpFirstOffset=false;
	}
	else {
	int16_t increment;
	ntpOffsetPerMin=(ntpInterporateAccum+ntpOffset)/(ntpInterporateCount+1);
	if (abs32(ntpOffset)<NTP_OFFSET_THRESH_L*3 && abs32(ntpOffsetPerMin)<NTP_OFFSET_THRESH_L) {
	increment=ntpInterval*3/10;
	if (increment==0) increment=1;
	ntpIntervalInc++;
	countConsecutiveDec=0;
	}
	else if (abs32(ntpOffset)>=NTP_OFFSET_THRESH_H*3 || abs32(ntpOffsetPerMin)>=NTP_OFFSET_THRESH_H) {
	increment=-ntpInterval*3/13;
	if (increment==0) increment=-1;
	ntpIntervalDec++;
	countConsecutiveDec++;
	if (countConsecutiveDec>=3 && ntpByName) ntpChange();
	}
	else {
	increment=0;
	countConsecutiveDec=0;
	}
	ntpInterval += increment;
	if (ntpInterval>ntpMaxInterval) ntpInterval=ntpMaxInterval;
	if (ntpInterval<ntpMinInterval) ntpInterval=ntpMinInterval;
	if (ntpInterval<=0) ntpInterval=1;
	dbgPrintln("NTP interval+=" + String(increment) + " =" + String(ntpInterval) + " InterporateCt=" + String(ntpInterporateCount) + " Offset=" + String(ntpOffset/1000) + "ms"); //$$$$$
	ntpInterporateCount=0;
	ntpInterporateAccum=0;
	}
	gettimeofday(&tv1, NULL);
	convUsec2Tv(convTv2Usec(&tv1) + +ntpOffset + ntpOffsetPerMin, &tv2); //##2
	settimeofday(&tv2, NULL);
	tvAtNtpSuccess=tv2;
	}
	if (timeWasSynched==false) {
	timeWasSynched=true;
	}
	}
	else {
	gettimeofday(&tvAtNtpFail, NULL);
	if (ntpInvalidCount>=3) {
	if (ntpDelayLimitUs*2<MAX_NTP_TIMEOUT*1000) ntpDelayLimitUs *= 2;
	else ntpDelayLimitUs=MAX_NTP_TIMEOUT*1000;
	if (ntpByName) {
	if (ntpInvalidCount>=6) {
	ntpInvalidCount=0;
	ntpIntervalInc=0;
	ntpIntervalDec=0;
	ntpDelayLimitUs=INITIAL_NTP_VALID*1000;
	ntpChange();
	}
	}
	}
	}
	localtime_r(&tv1.tv_sec, &tmSynchLocal);
	snprintf(strBuf, BUF_SIZE, "NTP:%d.%d.%d.%d PID=%03d Code=%d Settime=%02d/%02d %02d:%02d:%02d.%06d offset=%d offset/min=%d delay=%d delayAve=%.2f %s",
	ntpIP[0], ntpIP[1], ntpIP[2], ntpIP[3], ntpPacketId, ret, tmSynchLocal.tm_mon+1, tmSynchLocal.tm_mday, tmSynchLocal.tm_hour, tmSynchLocal.tm_min,
	tmSynchLocal.tm_sec, tv1.tv_usec, ntpOffset, ntpOffsetPerMin, ntpDelay, ntpDelayAve, ret==0?"Synch Success":"Validity Fail");
	dbgPrintln(strBuf);
	return ret;
	}
	int getNTPTime(byte synchMode) {
	int16_t pktSize;
	if (udp.parsePacket()>0) udp.read(packetBuffer, NTP_PACKET_SIZE); //clear buffer
	ntpPacketId++;
	if (ntpPacketId==0) ntpPacketId=1; //1 to 255 are used
	uint32_t msec=millis();
	gettimeofday(&tvStart, NULL);
	sendNTPpacket(); // send an NTP packet to a time server
	do {
	pktSize = udp.parsePacket();
	ntpTurnaround=millis()-msec;
	} while (pktSize<NTP_PACKET_SIZE && ntpTurnaround<MAX_NTP_TIMEOUT);
	if (pktSize>0) udp.read(packetBuffer, NTP_PACKET_SIZE); // read the packet into the buffer
	gettimeofday(&tvEnd, NULL);
	getNtpTv(32, &tvNtpRecv);
	getNtpTv(40, &tvNtpTrans);
	int64_t t1=convTv2Usec(&tvStart);
	int64_t t2=convTv2Usec(&tvNtpRecv);
	int64_t t3=convTv2Usec(&tvNtpTrans);
	int64_t t4=convTv2Usec(&tvEnd);
	ntpOffset = (int32_t)( t2 - t1 + t3 - t4 )/2;
	ntpDelay = (int32_t)((t4 - t1) - (t3 - t2));
	if (ntpTurnaround>=MAX_NTP_TIMEOUT) {
	ntpInvalidCount++;
	return 2;
	}
	else if ((synchMode==0?ntpDelay/1000:ntpTurnaround)>=ntpDelayLimitUs/1000) { //##3
	ntpInvalidCount++;
	return 1;
	}
	else if (packetBuffer[31]!=ntpPacketId) return 3; //packet ID not match
	else if (tvNtpTrans.tv_sec>2082726000UL) return 4; //if tv_sec>2036/1/1 do not record (NTP overflows in this year)
	else {
	ntpInvalidCount=0;
	return 0;
	}
	}
	void ntpChange() {
	IPAddress temp=ntpIP;
	if (ntpByName) WiFi.hostByName(ntpServerName.c_str(), ntpIP);
	else ntpIP=ntpIPbyIP;
	if (temp[0]==ntpIP[0] && temp[1]==ntpIP[1] && temp[2]==ntpIP[2] && temp[3]==ntpIP[3]) return;
	gettimeofday(&tvAtNtpServerSet, NULL);
	ntpFirstOffset=true;
	ntpInterval=ntpMinInterval;
	countConsecutiveDec=0;
	ntpIPHistoryIdx++;
	ntpIPHistory[ntpIPHistoryIdx%N_NTP_IP_HISTORY]=ntpIP;
	ntpIPTimeHistory[ntpIPHistoryIdx%N_NTP_IP_HISTORY]=tvAtNtpServerSet.tv_sec;
	}
	void updateNtpValidDelay() {
	ntpDelayAve = ntpDelayAve * 0.8 + 0.2*(float)ntpDelay;
	ntpDelayLimitUs=(int32_t)(ntpDelayAve*2.0);
	if (ntpDelayLimitUs>MAX_NTP_TIMEOUT*1000) ntpDelayLimitUs=MAX_NTP_TIMEOUT*1000;
	}
	void interporateTime() {
	if (ntpMinInterval>ntpMaxInterval) return; //no interporation
	if (millis()-msecInterporate<30000) return;
	msecInterporate=millis();
	struct timeval tv1, tv2;
	delay(10); //prevent sec going back
	gettimeofday(&tv1, NULL);
	convUsec2Tv(convTv2Usec(&tv1) + ntpOffsetPerMin, &tv2);
	settimeofday(&tv2, NULL);
	ntpInterporateCount++;
	ntpInterporateAccum+=ntpOffsetPerMin;
	dbgPrintln("Time interporation:" + String(ntpInterporateCount) + " present usec=" + String(tv1.tv_usec) + " adj=" + String(ntpOffsetPerMin) + "usec");
	}
	void getNtpTv(int adr, struct timeval* tvp) {
	uint32_t secSince1900 = packetBuffer[adr+0]<<24 | packetBuffer[adr+1]<<16 | packetBuffer[adr+2]<<8 | packetBuffer[adr+3];
	tvp->tv_sec =secSince1900 - SEVENTY_YEARS;
	tvp->tv_usec = (uint32_t)packetBuffer[adr+4]*1000000/256 + (uint32_t)packetBuffer[adr+5]*1000000/65536 +
	(uint32_t)packetBuffer[adr+6]*1000000/65536/256;
	}
	void sendNTPpacket(){
	memset(packetBuffer, 0, NTP_PACKET_SIZE);// set all bytes in the buffer to 0
	packetBuffer[0] = 0b11100011; // LI, Version, Mode
	packetBuffer[1] = 0; // Stratum, or type of clock
	packetBuffer[2] = 6; // Polling Interval
	packetBuffer[3] = 0xEC; // Peer Clock Precision
	packetBuffer[12] = 49; // 8 bytes of zero for Root Delay & Root Dispersion
	packetBuffer[13] = 0x4E;
	packetBuffer[14] = 49;
	packetBuffer[15] = 52;
	packetBuffer[47] = ntpPacketId; //Transmit timestamp
	udp.beginPacket(ntpIP, 123);
	udp.write(packetBuffer, NTP_PACKET_SIZE);
	udp.endPacket();
	}
	void setDst() {
	setenv("TZ", tzStr.c_str(), 1);
	tzset();
	String s=String(tzname[0]);
	if (tzStr.indexOf(',')==-1) {
	tzDstObs=false;
	lcdDispText(0,3, "DST not observed");
	}
	else {
	tzDstObs=true;
	s+= "/"+String(tzname[1]);
	}
	lcdDispText(0,2, "TZ="+s + " ");
	}
	void connectWifi() {
	uint32_t milli;
	lcdDispText(0,1,"");
	clearGraph();
	lcdDispText(0,2, wifiSSID);
	WiFi.disconnect(true);
	WiFi.config(0u, 0u, 0u); //clear static IP
	if (staIpFixed) WiFi.config(staIP, staGateway, staSNM, staDNS);
	if (wifiSSID.length()>0) {
	WiFi.begin(wifiSSID.c_str(), wifiPass.c_str());
	milli=millis();
	int16_t st;
	do {
	st=WiFi.status();
	delay(20);
	} while (st!= WL_CONNECTED && millis()-milli<15000);
	if (st==WL_CONNECTED) {
	lcdDispText(12,2, " OK");
	lcdDispText(0,3, WiFi.localIP().toString());
	delay(5000);
	}
	else {
	lcdDispText(12,2, " NG");
	delay(1000);
	}
	}
	}
	void setupWifi() {
	byte tryCount=0;
	WiFi.mode(WIFI_OFF);
	WiFi.mode(WIFI_STA);
	do {
	connectWifi();
	tryCount++;
	} while(wifiConnected()==false && tryCount<3);
	if (!wifiConnected()) {
	apOnly=true;
	WiFi.mode(WIFI_AP);
	WiFi.softAP(apSsid, apPass);
	lcdDispText(0,0, F("AP Only "));
	lcdDispText(0,1, apSsid);
	lcdDispText(0,2, apPass);
	lcdDispText(0,3, WiFi.softAPIP().toString());
	}
	}
	void setupNtp() {
	if (ntpByName) {
	lcdDispText(0,2, ntpServerName);
	WiFi.hostByName(ntpServerName.c_str(), ntpIP);
	}
	else {
	lcdDispText(0,2, "NTP by IP ");
	ntpIP=ntpIPbyIP;
	}
	ntpFirstOffset=true;
	lcdDispText(0,3, ntpIP.toString());
	delay(4000);
	}
	boolean wifiConnected() {
	if (WiFi.status()==WL_CONNECTED) return true;
	else return false;
	}
	void dbgPrint(String s) {
	if (serialMon) Serial.print(s);
	}
	void dbgPrintln(String s) {
	dbgPrint(s+F("\r\n"));
	}
	void handleNotFound(AsyncWebServerRequest *request){
	request->send(404, "text/plain", F("File Not Found\n\n"));
	}
	void dispStatus(AsyncWebServerRequest *request) {
	String fmt=dateFmtMD[dateFormat] + " %H:%M:%S.";
	struct tm tim;
	struct timeval tv;
	char buf[40]={0};
	String s= msgHead + msgHome +
	"<p>Pendulum Count=" + String(countPend) + " History=" + String(numHistory[0]) +
	"<br>Error=" + csecToSecF(csecPendError) + " [" + csecToSecF(csecPendErrorMin) + ", " + csecToSecF(csecPendErrorMax) + "] sec" +
	"<br>Current=" + String(adjLevel) + " [" + String(adjLevelMin) + ", " + String(adjLevelMax) + "] Ave=" + String(cadjLevelAve/100.0) +
	"<br>Local IP=" + WiFi.localIP().toString() + "<br>NTP IP=" + ntpIP.toString() + (ntpByName?" (Pool)":"") +
	"<br>Control Enabled=" + adjOn + " OnOff Mode=" + onoffMode +
	"<br>Sensor: Min Off=" + String(minSensOffDuration) + " Min On=" + String(minSensOnDuration) + " msec" +
	"<br>Penddulum window=" + String(pendWindow) + " msec";
	strftime(buf, 20, fmt.c_str(), &tmAtRef0Local);
	s+= "<br>Reference 0=" + String(buf) + preZero3(tvAtRef0.tv_usec/1000);
	strftime(buf, 20, fmt.c_str(), &tmAtResetMMLocal);
	s+= "<br>M/M. Reset=" + String(buf) + preZero3(tvAtResetMM.tv_usec/1000);
	gettimeofday(&tv, NULL);
	localtime_r(&tv.tv_sec, &tim);
	strftime(buf, 20, fmt.c_str(), &tim);
	s+= "<br>Now=" + String(buf) + preZero3(tv.tv_usec/1000);
	"</p>" + msgEnd;
	request->send (200, textHtml, s);
	}
	String csecToSecF(int32_t csec) {
	String s;
	if (csec<0) s="-";
	else s="";
	return s + String(abs32(csec)/100) + "." + preZero2((int)(abs32(csec)%100));
	}
	String preZero2(int n) {
	String s=String(n);
	if (s.length()==1) return "0"+s;
	else return s;
	}
	String preZero3(int n) {
	String s=String(n);
	int len=s.length();
	if (len==1) return "00"+s;
	else if (len==2) return "0"+s;
	else return s;
	}
	void hand0Sec(AsyncWebServerRequest *request) {
	String st;
	if (!refSet) {
	st=F("<h2>Time Ref not set</h2>");
	request->send (200, textHtml, msgHead + msgHome + st + msgEnd);
	}
	else {
	funcPtrYes=hand0SecExe;
	funcPtrNo=dispStatus;
	st=F("<h2>Set 0 second?</h2>");
	request->send (200, textHtml, msgHead + st + msgYesNo + msgEnd);
	}
	}
	void hand0SecExe(AsyncWebServerRequest *request) {
	struct tm tl;
	struct timeval tv;
	gettimeofday(&tv, NULL);
	localtime_r(&tv.tv_sec, &tl);
	time_t secDiff;
	if (tl.tm_sec>40) secDiff=60-tl.tm_sec; //Clock hand ahead
	else secDiff=-tl.tm_sec; //Clock hand behind
	if (tvAtRef0.tv_usec<tv.tv_usec) tvAtRef0.tv_sec -= 1;
	tvAtRef0.tv_sec += secDiff;
	tvAtRef0.tv_usec -= tv.tv_usec;
	updateError();
	csecPendErrorLast=csecPendError;
	String st="<h2>Ref0 adjusted</h2>";
	request->send (200, textHtml, msgHead + msgHome + st + msgEnd);
	}
	void resetMinMax(AsyncWebServerRequest *request) {
	funcPtrYes=resetMinMaxExe;
	funcPtrNo=dispStatus;
	String st=F("<h2>Reset Min/Max for Error and Adj level?</h2>");
	request->send (200, textHtml, msgHead + st + msgYesNo + msgEnd);
	}
	void resetMinMaxExe(AsyncWebServerRequest *request) {
	adjLevelMax=adjLevel;
	adjLevelMin=adjLevel;
	csecPendErrorMax=csecPendError;
	csecPendErrorMin=csecPendError;
	gettimeofday(&tvAtResetMM, NULL);
	localtime_r(&tvAtResetMM.tv_sec, &tmAtResetMMLocal);
	String st= "<h2> Error M/M=" + csecToSecF(csecPendError) + " Adj M/M=" + String(adjLevel) + "</h2>";
	request->send(200, textHtml, msgHead + msgHome + st + msgEnd);
	}
	void zeroError(AsyncWebServerRequest *request) {
	funcPtrYes=zeroErrorExe;
	funcPtrNo=dispStatus;
	String st=F("<h2>Error set to 0?</h2>");
	request->send (200, textHtml, msgHead + st + msgYesNo + msgEnd);
	}
	void zeroErrorExe(AsyncWebServerRequest *request) {
	time_t secErr = csecPendError/100;
	int32_t usecErr = (csecPendError%100)*10000;
	int32_t temp=tvAtRef0.tv_usec - usecErr;
	int32_t carry=0;
	if (temp>=1000000) {
	temp -= 1000000;
	carry=1;
	}
	else if (temp<0) {
	temp += 1000000;
	carry=-1;
	}
	tvAtRef0.tv_usec=temp;
	tvAtRef0.tv_sec+=carry-secErr;
	updateError();
	csecPendErrorLast=csecPendError;
	String st=F("<h2>Ref0 adjusted and Error set to 0</h2>");
	request->send (200, textHtml, msgHead + msgHome + st + msgEnd);
	}
	void graphError(AsyncWebServerRequest *request) {
	char buf[20]={0};
	struct tm tsl, tel;
	time_t tEnd=time(NULL);
	time_t tStart=tEnd-graphSpan;
	byte dataSet;
	String sel;
	gYCscaleMM="suggestedMin:-30, suggestedMax:30";
	String msgG = "<form action='GU' name='formGU' onchange='changeVal()'>";
	msgG += "X:<select name='XS' style='font-size:50pt;width:110px;margin:0px'>";
	for (byte i=1; i<=24; i++) {
	sel=(graphSpan/gSpanUnit[gSpanUnitIdx]==i)?"selected":"";
	msgG += "<option " + sel + " value='" + String(i) + "'>" + String(i) + "</option>";
	}
	msgG += "</select><select name='XU' style='font-size:50pt;width:100px;margin:0px'>";
	for (byte i=0; i<3; i++) {
	sel=(gSpanUnitIdx==i)?"selected":"";
	msgG += "<option " + sel + " value='" + String(i) + "'>" + gSpanUnitStr[i] + "</option>";
	}
	msgG += "</select>&nbsp;&nbsp;A:<select name='YE' style='font-size:50pt;width:200px;margin:0px'>";
	for (byte i=0; i<5; i++) {
	sel=(gYEscaleIdx==i)?"selected":"";
	msgG += "<option " + sel + " value='" + String(i) + "'>" + gYEscaleStr[i] + "</option>";
	}
	msgG += "</select>&nbsp;&nbsp;C:<select name='YC' style='font-size:50pt;width:200px'>";
	for (byte i=0; i<5; i++) {
	sel=(gYCscaleIdx==i)?"selected":"";
	msgG += "<option " + sel + " value='" + String(i) + "'>" + gYCscaleStr[i] + "</option>";
	}
	msgG += "</select><br><input type='submit' value='Reload'></form> \
	<form action='MM'><input type='submit' value='Home'></form>";
	if (gYEscaleIdx==0) gYEscaleMM="suggestedMin:-5, suggestedMax:5";
	else gYEscaleMM="min:-" + String(gYEscale) + ", max:" + String(gYEscale);
	if (gYCscaleIdx==0) gYCscaleMM="suggestedMin:-500, suggestedMax:500";
	else gYCscaleMM="min:-" + String(gYCscale) + ", max:" + String(gYCscale);
	if (numHistory[0]<N_HISTORY) dataSet=0;
	else if (tHistory[0][(numHistory[0]+1)%N_HISTORY]<tStart) dataSet=0;
	else dataSet=1;
	int32_t hEnd=numHistory[dataSet];
	int32_t hStart;
	if (graphSpan>14*24*3600) { //longest
	if (numHistory[dataSet]<N_HISTORY) hStart=0;
	else hStart=hEnd-N_HISTORY;
	}
	else {
	int16_t count=N_HISTORY;
	if (numHistory[dataSet]<N_HISTORY) count=numHistory[dataSet]+1;
	hStart=hEnd;
	for (int16_t i=0; i<count; i++) {
	if (tHistory[dataSet][(N_HISTORY+hEnd-i)%N_HISTORY]<tStart) break;
	hStart=hEnd-i;
	}
	}
	tStart=tHistory[dataSet][hStart%N_HISTORY];
	String outData = "[";
	String errData = "[";
	String secLabel="[";
	for (int32_t i=hStart; i<=hEnd; i++) {
	int32_t j=i%N_HISTORY;
	outData += String(adjHistory[dataSet][j]) + ",";
	errData += String(errorHistory[dataSet][j]) + ",";
	secLabel += String(tHistory[dataSet][j]-tStart) + ",";
	if ((int)esp_get_free_heap_size()<MIN_HEAP) break;
	}
	outData += "];";
	errData += "];";
	secLabel += "];";
	localtime_r(&tStart, &tsl);
	strftime(buf, 20, (dateFmtMD[dateFormat] + " %H:%M").c_str(), &tsl);
	String stgT = "<br>" + verLetter+verNum + " From "+ buf + " Dataset " + String(dataSet);
	String stg = msgChartHead;
	stg += "var ctx = document.getElementById('myChart').getContext('2d');";
	stg += "var errData=" + errData;
	stg += "var outData=" + outData;
	stg += "var secLabel=" + secLabel;
	stg += "var xLabel=[]; var i;";
	stg += "for (i=0; i<=" + String(hEnd-hStart) + "; i++) {xLabel.push(" + String(tStart) + "*1000 + secLabel[i]*1000);errData[i]/=100;}";
	stg += "var errLine={label:'<-Accuracy(sec)', showLine:true, lineTension:0, fill:false, borderWidth:4, borderColor:'blue', pointRadius:0, data:errData, yAxisID:'yE'};";
	stg += "var outLine={label:'Current->', showLine:true, lineTension:0, fill:false, borderWidth:2, borderColor:'red', pointRadius:0, data:outData, yAxisID:'yA'};";
	stg += "var opt={scales: {xAxes: [{type: 'time', time:{min:" + String(gmtNow-graphSpan) + "*000,displayFormats:{millisecond:'kk:mm',second:'kk:mm',minute:'kk:mm',hour:'M/D ha',}}}],";
	stg += "yAxes: [{id:'yE',type:'linear',position:'left',ticks:{" + gYEscaleMM + "}},{id:'yA',type:'linear',position:'right',ticks:{" + gYCscaleMM + "}}]}};";
	stg += "var config={type:'line', options: opt, data: {datasets: [errLine, outLine], labels: xLabel}};";
	stg += "if (errChart) errChart.destroy();";
	stg += "else var errChart = new Chart(ctx,config);";
	stg += "function changeVal() {";
	stg += "document.formGU.submit();";
	stg += "}";
	stg += "</script>";
	String st = "Pend Ct=" + String(countPend) + " Hist=" + String(numHistory[0]) +
	"<br>Error=" + csecToSecF(csecPendError) + " [" + csecToSecF(csecPendErrorMin) + ", " + csecToSecF(csecPendErrorMax) + "] sec" +
	"<br>Current=" + String(adjLevel) + " [" + String(adjLevelMin) + ", " + String(adjLevelMax) + "] Ave=" + String(cadjLevelAve/100.0);
	request->send(200, textHtml, msgHead + msgG + stgT + stg + st + msgEnd);
	}
	void updateErrorGraph(AsyncWebServerRequest *request) {
	if (request->hasParam("YC")) {
	String rq=request->getParam("XU")->value();
	gSpanUnitIdx=(byte)atoi(rq.c_str());
	rq=request->getParam("XS")->value();
	graphSpan=atoi(rq.c_str())*gSpanUnit[gSpanUnitIdx];
	rq=request->getParam("YE")->value();
	gYEscaleIdx=atoi(rq.c_str());
	gYEscale=gYEscaleNum[gYEscaleIdx];
	rq=request->getParam("YC")->value();
	gYCscaleIdx=atoi(rq.c_str());
	gYCscale=gYCscaleNum[gYCscaleIdx];
	}
	graphError(request);
	}
	void adjControl(AsyncWebServerRequest *request) {
	funcPtrWeb=adjControlExe;
	funcReqWeb=request;
	}
	void adjControlExe(AsyncWebServerRequest *request) {
	if (adjOn) {
	adjOn=false;
	lcdDispText(0,1, "OUT= ");
	}
	else {
	adjOn=true;
	lcdDispText(0,1, " ");
	}
	String st = "<h2>Control= " + String(adjOn) + "</h2>";
	request->send (200, textHtml, msgHead + msgHome + st + msgEnd);
	}
	void dispAdj(AsyncWebServerRequest *request) {
	funcPtrWeb=dispAdjExe;
	funcReqWeb=request;
	}
	void dispAdjExe(AsyncWebServerRequest *request) {
	lcdDispNum4n(9,1,adjLevel);
	String st = "<h2>Current= " + String(adjLevel) + " [" + String(adjLevelMin) + ", " + String(adjLevelMax) + "]</h2>";
	request->send (200, textHtml, msgHead + msgHome + st + msgEnd);
	}
	void confMenu(AsyncWebServerRequest *request) {
	setConfigStr();
	setConfigMsg();
	request->send (200, textHtml, msgConf + msgEnd);
	}
	void setOutput(AsyncWebServerRequest *request) {
	if (request->hasParam("OV")) {
	String rq=request->getParam("OV")->value();
	adjLevel = atoi(rq.c_str());
	cadjLevel=adjLevel*100;
	drvCoil(adjLevel);
	dispAdj(request);
	}
	else request->send (200, textHtml, msgConf + "Illegal format" + msgEnd);
	}
	void setError(AsyncWebServerRequest *request) {
	if (request->hasParam("EV")) {
	funcPtrYes=setErrorExe;
	funcPtrNo=dispStatus;
	String rq=request->getParam("EV")->value();
	float fnum=atof(rq.c_str());
	secTmAdj=(int32_t)fnum;
	usecTmAdj=(int32_t)((fnum-(float)secTmAdj)*1000000);
	String st="<h2>Adjust Error by " + rq + "sec?</h2>";
	request->send (200, textHtml, msgHead + st + msgYesNo + msgEnd);
	}
	else request->send (200, textHtml, msgConf + "Illegal format" + msgEnd);
	}
	void setErrorExe(AsyncWebServerRequest *request) {
	int32_t temp=tvAtRef0.tv_usec + usecTmAdj;
	int32_t carry=0;
	if (temp>=1000000) {
	temp -= 1000000;
	carry=1;
	}
	else if (temp<0) {
	temp += 1000000;
	carry=-1;
	}
	tvAtRef0.tv_usec=temp;
	tvAtRef0.tv_sec += carry+secTmAdj;
	updateError();
	csecPendErrorLast=csecPendError;
	String st="<h2>Ref0 adjusted and Error set to " + csecToSecF(csecPendError) + "</h2>";
	request->send (200, textHtml, msgHead + msgHome + st + msgEnd);
	}
	void applyConfig(AsyncWebServerRequest *request) {
	if (request->hasParam("DF")) { //last parameter (date format)
	pendCycle = (int32_t)atoi(request->getParam("PC")->value().c_str());
	pendDur = (int32_t)atoi(request->getParam("PD")->value().c_str());
	pendTuneCycle = atoi(request->getParam("PT")->value().c_str());
	liftFactor = atoi(request->getParam("LF")->value().c_str());
	setupMechTiming();
	kP = atoi(request->getParam("KP")->value().c_str());
	kI = atoi(request->getParam("KI")->value().c_str());
	wifiSSID = request->getParam("WS")->value();
	wifiPass = request->getParam("WP")->value();
	if (request->getParam("IF")->value().charAt(0)=='1') {
	staIpFixed=true;
	}
	else {
	staIpFixed=false;
	}
	staIP.fromString(request->getParam("IL")->value());
	staGateway.fromString(request->getParam("IG")->value());
	staDNS.fromString(request->getParam("ID")->value());
	staSNM.fromString(request->getParam("IS")->value());
	boolean ntpByNameLast=ntpByName;
	if (request->getParam("NF")->value().charAt(0)=='0') ntpByName=true;
	else ntpByName=false;
	ntpIPbyIP.fromString(request->getParam("NI")->value());
	ntpServerName=request->getParam("NN")->value();
	ntpMinInterval=(uint16_t)atoi(request->getParam("NV")->value().c_str());
	ntpMaxInterval=(uint16_t)atoi(request->getParam("NX")->value().c_str());
	if (ntpInterval>ntpMaxInterval) ntpInterval=ntpMaxInterval;
	if (ntpInterval<ntpMinInterval) ntpInterval=ntpMinInterval;
	if (ntpByNameLast != ntpByName) ntpChange();
	String tzStrLast=tzStr;
	tzStr=request->getParam("TZ")->value();
	if (strcmp(tzStrLast.c_str(), tzStr.c_str())!=0) {
	setenv("TZ", tzStr.c_str(), 1);
	tzset();
	}
	dateFormat=(byte)atoi(request->getParam("DF")->value().c_str());
	saveConfigFile();
	request->send (200, textHtml, msgHead + msgHome + "<br><h2>Done</h2>" + msgEnd);
	}
	else {
	request->send (200, textHtml, msgHead + msgHome + "<br><h2>Transmission Error</h2>" + msgEnd);
	}
	}
	boolean saveConfigFile() {
	File file = SPIFFS.open(CONFIG_FILE, FILE_WRITE);
	if (!file) return false;
	setConfigStr();
	file.println(fileVer);
	file.println(strPC);
	file.println(strPD);
	file.println(strPT);
	file.println(strKP);
	file.println(strKI);
	file.println(strLF);
	file.println(strWS);
	file.println(strWP);
	file.println(strIF);
	file.println(strIL);
	file.println(strIG);
	file.println(strID);
	file.println(strIS);
	file.println(strNF);
	file.println(strNI);
	file.println(strNN);
	file.println(strNV);
	file.println(strNX);
	file.println(strTZ);
	file.println(strDF);
	file.close();
	return true;
	}
	void setConfigStr() {
	strPC=String(pendCycle);
	strPD=String(pendDur);
	strPT=String(pendTuneCycle);
	strKP=String(kP);
	strKI=String(kI);
	strLF=String(liftFactor);
	strWS=wifiSSID;
	strWP=wifiPass;
	strIF=staIpFixed?"1":"0";
	strIL=staIP.toString();
	strIG=staGateway.toString();
	strID=staDNS.toString();
	strIS=staSNM.toString();
	strNF=ntpByName?"0":"1";
	strNI=ntpIPbyIP.toString();
	strNN=ntpServerName;
	strNV=String(ntpMinInterval);
	strNX=String(ntpMaxInterval);
	strTZ=tzStr;
	strDF=String(dateFormat);
	}
	void confDefault(AsyncWebServerRequest *request) {
	funcPtrYes=confDefaultExe;
	funcPtrNo=dispStatus;
	request->send (200, textHtml, msgHead + "<h2>Use Factory Setting?</h2><br><br>" + msgYesNo + msgEnd);
	}
	void confDefaultExe(AsyncWebServerRequest *request) {
	loadDefaultConfig();
	setConfigMsg();
	request->send (200, textHtml, msgConf + "<br><h2>Default loaded but NOT applied</h2>" + msgEnd);
	}
	void setConfigPara() {
	pendCycle=(int32_t)(atoi(strPC.c_str()));
	pendDur=(int32_t)(atoi(strPD.c_str()));
	pendTuneCycle=(int16_t)(atoi(strPT.c_str()));
	kP=(int16_t)(atoi(strKP.c_str()));
	kI=(int16_t)(atoi(strKI.c_str()));
	liftFactor=(int16_t)(atoi(strLF.c_str()));
	wifiSSID=strWS;
	wifiPass=strWP;
	staIpFixed=(strIF.charAt(0)=='1');
	staIP.fromString(strIL);
	staGateway.fromString(strIG);
	staDNS.fromString(strID);
	staSNM.fromString(strIS);
	ntpByName=(strNF.charAt(0)=='0');
	ntpIPbyIP.fromString(strNI);
	ntpIP=ntpIPbyIP;
	ntpServerName=strNN;
	ntpMinInterval=(int16_t)(atoi(strNV.c_str()));
	ntpMaxInterval=(int16_t)(atoi(strNX.c_str()));
	tzStr=strTZ;
	dateFormat=(byte)atoi(strDF.c_str());
	}
	void loadDefaultConfig() {
	strPC=String(DEFAULT_PEND_CYCLE);
	strPD=String(DEFAULT_PEND_DUR);
	strPT=String(DEFAULT_TUNE_CYCLE);
	strKP=String(DEFAULT_KP);
	strKI=String(DEFAULT_KI);
	strLF=String(DEFAULT_PEND_LF);
	strWS=DEFAULT_WIFI_SSID;
	strWP=DEFAULT_WIFI_PASS;
	strIF=DEFAULT_STA_IP_FIX;
	strIL=DEFAULT_STA_IP;
	strIG=DEFAULT_STA_GW;
	strID=DEFAULT_STA_DNS;
	strIS=DEFAULT_SUBNET;
	strNF=DEFAULT_NTP_BY_NAME?"0":"1";
	strNI=DEFAULT_NTP_IP;
	strNN=DEFAULT_NTP_NAME;
	strNV=String(DEFAULT_NTP_MIN_INTERVAL);
	strNX=String(DEFAULT_NTP_MAX_INTERVAL);
	strTZ=DEFAULT_TZ_STR;
	strDF=String(DEFAULT_DATE_FORMAT);
	}
	void setConfigMsg() {
	msgConf= msgHead + "<script type='text/javascript'>\
	function funcFixed() {document.getElementById('IF').style.display = 'inline';\
	document.getElementById('radio1').checked = true;}\
	function funcDHCP() {document.getElementById('IF').style.display = 'none';\
	document.getElementById('radio2').checked = true;}\
	function funcNtpF() {document.getElementById('NF').style.display = 'inline';\
	document.getElementById('NN').style.display = 'none';\
	document.getElementById('radio3').checked = true;}\
	function funcNtpN() {document.getElementById('NF').style.display = 'none';\
	document.getElementById('NN').style.display = 'inline';\
	document.getElementById('radio4').checked = true;}\
	window.onload = function() {" + String(strIF.charAt(0)=='1'?"funcFixed();":"funcDHCP();") +
	String(strNF.charAt(0)=='1'?"funcNtpF();":"funcNtpN();") +
	"document.getElementById('DF').value='" + strDF.charAt(0) + "';};</script>\
	<form action='MM'><input type='submit' value='Home'></form> \
	<form action='CD'><input type='submit' value='Factory'></form> \
	<form action='CB'><input type='submit' value='Reboot'></form> \
	<form id='form1' action='CA'><button type=submit' form='form1'>Apply</button><br>\
	<hr width='800px'>\
	Pendulum:<input id='PC' type='number' min='1' name='PC' value='" + strPC + "'>cycles=\
	<input type='number' min='1' name='PD' value='" + strPD + "'>sec\
	<br>Pend Cycle between Tune:<input type='number' min='1' name='PT' value='" + strPT + "'>\
	<br>KP:<input type='number' min='0' name='KP' value='" + strKP + "'>&nbsp;\
	KI:<input type='number' min='0' name='KI' value='" + strKI + "'>\
	Lift/Swing:<input type='number' min='1' max='720' name='LF' value='" + strLF + "'>\
	<br><hr width='800px'>\
	<span>WiFi SSID:</span><input type='text' name='WS' value='" + strWS + "'><br>\
	<span>WiFi Pass:</span><input type='text' name='WP' value='" + strWP + "'><br>\
	<hr width='800px'>\
	<input type='radio' id='radio1' name='IF' value='1' onclick='funcFixed()' />\
	<label for='radio1'><span style='width:250px;text-align:left'>Fixed IP</span></label>\
	<input type='radio' id='radio2' name='IF' value='0' onclick='funcDHCP()' />\
	<label for='radio2'><span style='width:300px;text-align:left'>DHCP</span></label>\
	<span id='IF'><br>\
	<span>Local IP:</span><input type='text' name='IL' value='" + strIL + "'><br>\
	<span>Gateway IP:</span><input type='text' name='IG' value='" + strIG + "'><br>\
	<span>DNS IP:</span><input type='text' name='ID' value='" + strID + "'><br>\
	<span>Subnet Mask:</span><input type='text' name='IS' value='" + strIS + "'></span><br>\
	<hr width='800px'>\
	<input type='radio' id='radio3' name='NF' value='1' onclick='funcNtpF()' />\
	<label for='radio3'><span style='width:250px;text-align:left'>NTP IP</span></label>\
	<input type='radio' id='radio4' name='NF' value='0' onclick='funcNtpN()' />\
	<label for='radio4'><span style='width:300px;text-align:left'>NTP Name</span></label>\
	<span id='NF'><br><span>NTP IP:</span><input type='text' name='NI' value='" + strNI + "'></span>\
	<span id='NN'><br><span>NTP Name:</span><input type='text' name='NN' value='" +strNN + "'></span><br>\
	Interval Min:<input type='number' min='1' max='1440' name='NV' value='" + strNV + "'> \
	Max:<input type='number' min='1' max='1440' step='1' name='NX' value='" + strNX + "'>min<br>\
	<hr width='800px'>\
	<span>TZ/DST:</span><input type='text' list='tzList' name='TZ' value='" + strTZ + "' placeholder='Select or type in'><br>\
	<datalist id='tzList'>\
	<option value='" + TZ_STR0 + "'>\
	<option value='" + TZ_STR1 + "'>\
	<option value='" + TZ_STR2 + "'>\
	<option value='" + TZ_STR3 + "'>\
	</datalist>\
	<span>Date Format:</span><select id='DF' name='DF' form='form1' style='width:500px;font-size:36pt;margin-right:50px'>\
	<option value='0'>Select format</option>\
	<option value='1'>" + dateStr[1] + "</option>\
	<option value='2'>" + dateStr[2] + "</option>\
	<option value='3'>" + dateStr[3] + "</option></select><br></form>"; //when changed, make sure to check that bottom alignment
	}
	boolean loadConfigFile() {
	File file = SPIFFS.open(CONFIG_FILE, FILE_READ);
	if (!file) return false;
	if (file.available()) {
	strVer=file.readStringUntil('\r');file.read();
	if (strVer.compareTo(fileVer)!=0) {
	file.close();
	return false;
	}
	strPC=file.readStringUntil('\r');file.read();
	strPD=file.readStringUntil('\r');file.read();
	strPT=file.readStringUntil('\r');file.read();
	strKP=file.readStringUntil('\r');file.read();
	strKI=file.readStringUntil('\r');file.read();
	strLF=file.readStringUntil('\r');file.read();
	strWS=file.readStringUntil('\r');file.read();
	strWP=file.readStringUntil('\r');file.read();
	strIF=file.readStringUntil('\r');file.read();
	strIL=file.readStringUntil('\r');file.read();
	strIG=file.readStringUntil('\r');file.read();
	strID=file.readStringUntil('\r');file.read();
	strIS=file.readStringUntil('\r');file.read();
	strNF=file.readStringUntil('\r');file.read();
	strNI=file.readStringUntil('\r');file.read();
	strNN=file.readStringUntil('\r');file.read();
	strNV=file.readStringUntil('\r');file.read();
	strNX=file.readStringUntil('\r');file.read();
	strTZ=file.readStringUntil('\r');file.read();
	strDF=file.readStringUntil('\r');
	file.close();
	return true;
	}
	}
	void confLoad(AsyncWebServerRequest *request) {
	loadConfigFile();
	setConfigMsg();
	request->send (200, textHtml, msgConf + msgEnd);
	}
	void confReboot(AsyncWebServerRequest *request) {
	funcPtrYes=espReset;
	funcPtrNo=confMenu;
	request->send (200, textHtml, msgHead + "<h2>CPU Reset?</h2><br><br>" + msgYesNo + msgEnd);
	}
	void espReset(AsyncWebServerRequest *request) {
	funcPtrYes=dispStatus;
	request->send (200, textHtml, msgHead + "<h2>CPU Resetting...</h2>" + msgEnd);
	ESP.restart();
	}
	void ansYes(AsyncWebServerRequest *request) {
	if (funcPtrYes) funcPtrYes(request);
	else dispStatus(request);
	}
	void ansNo(AsyncWebServerRequest *request) {
	if (funcPtrNo) funcPtrNo(request);
	else dispStatus(request);
	}
	void sensAdjOn(AsyncWebServerRequest *request) {
	sensAdjMode=true;
	oled.clear();
	funcPtrYes=sensAdjOff;
	funcPtrNo=dispStatus;
	request->send (200, textHtml, msgHead + "<h2>End Sensor Adj mode?</h2><br><br>" + msgYesNo + msgEnd);
	}
	void sensAdjOff(AsyncWebServerRequest *request) {
	sensAdjMode=false;
	ledOff();
	dispStatus(request);
	}
	void setupServer() {
	server.on("/", dispStatus);
	server.on("/TC", adjControl);
	server.on("/SO", setOutput);
	server.on("/H0", hand0Sec);
	server.on("/SE", setError);
	server.on("/EZ", zeroError);
	server.on("/MR", resetMinMax);
	server.on("/ST", dispStatus);
	server.on("/GU", updateErrorGraph);
	server.on("/GR", graphError);
	server.on("/CF", confMenu);
	server.on("/CA", applyConfig);
	server.on("/CD", confDefault);
	server.on("/MM", dispStatus);
	server.on("/CB", confReboot);
	server.on("/SA", sensAdjOn);
	server.on("/YS", ansYes);
	server.on("/NO", ansNo);
	server.onNotFound(handleNotFound);
	server.begin();
	}
	void lcdDispText(int16_t col, int16_t row, String s) {
	lcdDispText2(col, row, s, 128);
	}
	void lcdDispText2(int16_t col, int16_t row, String s, int16_t width) {
	oled.setColor(BLACK);
	oled.fillRect(col*CHAR_W, row*CHAR_H, width, 18);
	oled.setColor(WHITE);
	oled.drawString(col*CHAR_W, row*CHAR_H, s);
	oled.display();
	}
	void lcdDispNumF(int16_t col, int16_t row, int32_t n) {
	char pNum[10]={0};
	if (n>9999999) snprintf(pNum, 10, "%s", "+> ");
	else if (n<-999999) snprintf(pNum, 10, "%s", "-< ");
	else snprintf(pNum, 10, "%08.2f", ((float)n)/100.0);
	oled.setColor(BLACK);
	oled.fillRect(col*CHAR_W, row*CHAR_H, 72, 16);
	oled.setColor(WHITE);
	oled.drawString(col*CHAR_W, row*CHAR_H, pNum);
	oled.display();
	}
	void lcdDispNum3n(int16_t col, int16_t row, int32_t n) {
	char pNum[5]={0};
	if (abs32(n)<=999) snprintf(pNum, 5, "%3d", n);
	else snprintf(pNum, 5, "%s", "***");
	oled.setColor(BLACK);
	oled.fillRect(col*CHAR_W, row*CHAR_H, 30, 16);
	oled.setColor(WHITE);
	oled.drawString(col*CHAR_W, row*CHAR_H, pNum);
	oled.display();
	}
	void lcdDispNum4n(int16_t col, int16_t row, int32_t n) {
	char pNum[6]={0};
	if (abs32(n)<=9999) snprintf(pNum, 6, "%4d", n);
	else snprintf(pNum, 6, "%s", "***");
	oled.setColor(BLACK);
	oled.fillRect(col*CHAR_W, row*CHAR_H, 44, 16);
	oled.setColor(WHITE);
	oled.drawString(col*CHAR_W, row*CHAR_H, pNum);
	oled.display();
	}
	void lcdDispTime(int16_t col, int16_t row, byte mode) { //mode1=data and time, mode2=time only
	struct tm tt;
	localtime_r(&gmtAtSec, &tt);
	tzDst=tt.tm_isdst;
	char buf[20]={0};
	char tim[20]={0};
	if (mode==1) strftime(buf, 20, dateFmtMD[dateFormat].c_str(), &tt);
	snprintf(tim, 20, "%s %02d:%02d:%02d", buf, tt.tm_hour, tt.tm_min, tt.tm_sec);
	oled.setColor(BLACK);
	oled.fillRect(col*CHAR_W, row*CHAR_H, 128, 16);
	oled.setColor(WHITE);
	oled.drawString(col*CHAR_W, row*CHAR_H, tim);
	if (tzDst==0 && tzDstObs) oled.drawCircle(123, 9, 4);
	else if (tzDst>0) oled.fillCircle(123, 9, 4);
	oled.display();
	}
	void lcdDispGraph() {
	#if defined(HMC5883)
	if (sensAdjMode) return;
	#endif
	if (digitalRead(BTN_PIN)==LOW) return;
	int32_t eMax=1;
	int16_t aMax=1, diff;
	byte idxA, idxE;
	int32_t hStart=numHistory[0]-30; //SCREEN_W; //use the last 30 points for scaling
	if (hStart<0) hStart=0;
	for (int32_t i=hStart; i<=numHistory[0]; i++) {
	if (abs32(errorHistory[0][i%N_HISTORY])>eMax) eMax=abs32(errorHistory[0][i%N_HISTORY]);
	diff=abs16(adjHistory[0][i%N_HISTORY]-adjLevel);
	if (diff>aMax) aMax=diff;
	}
	for (idxE=0; idxE<numgE; idxE++) {
	if (gscaleE[idxE]>=eMax) break;
	}
	if (idxE>=numgE) idxE=numgE-1;
	for (idxA=0; idxA<numgA; idxA++) {
	if (gscaleA[idxA]>=aMax) break;
	}
	if (idxA>=numgA) idxA=numgA-1;
	clearGraph();
	lcdSetColor(WHITE);
	lcdDrawLine(0, GYCENTER, GXORIGIN, GYCENTER);
	lcdDrawLine(GXORIGIN, GYCENTER-16, GXORIGIN, GYCENTER+16);
	lcdDrawLine(GXORIGIN, GYCENTER-10, GXORIGIN+2, GYCENTER-10);
	lcdDrawLine(GXORIGIN, GYCENTER+10, GXORIGIN+2, GYCENTER+10);
	oled.setFont(ArialMT_Plain_10);
	String scaleMark;
	if ((lcdGmode==0) && (gmtAtSec%lcdGrAltSec<(lcdGrAltSec/2)) || (lcdGmode==1)) {
	if (gscaleE[idxE]>=100) scaleMark=String(gscaleE[idxE]/100)+"s";
	else scaleMark=String(gscaleE[idxE]*10)+"ms";
	lcdDrawString(GXORIGIN+4, GYCENTER-16, "+"+scaleMark);
	lcdDrawString(GXORIGIN+4, GYCENTER+4, "-"+scaleMark);
	}
	else if ((lcdGmode==0) && (gmtAtSec%lcdGrAltSec>=(lcdGrAltSec/2)) || (lcdGmode==2)) {
	lcdDrawString(GXORIGIN+4, GYCENTER-16, String(gscaleA[idxA]+(adjLevel/10)*10));
	lcdDrawString(GXORIGIN+4, GYCENTER+4, String(-gscaleA[idxA]+(adjLevel/10)*10));
	}
	oled.setFont(OLEDFONT);
	time_t endSec=tHistory[0][numHistory[0]%N_HISTORY];
	int16_t dotPerHour=3600/tuneInterval;
	for (int i=1; i<=GRAPH_W; i++) {
	if (i%4==0) {
	lcdSetPixel(GRAPH_W-i, GTOP);
	lcdSetPixel(GRAPH_W-i, GBOTTOM);
	}
	if ((i-1)%dotPerHour==0) { //every 1 hour back from now
	for (int y=GTOP; y<=GBOTTOM; y++) {
	if (y%4==0) lcdSetPixel(GRAPH_W-i, y);
	}
	}
	}
	lcdSetColor(WHITE);
	int32_t yE;
	int16_t yA;
	hStart=numHistory[0]-GRAPH_W;
	int16_t offset=0;
	if (hStart<0) {
	hStart=0;
	offset=GRAPH_W-numHistory[0];
	}
	if ((lcdGmode==0) && (gmtAtSec%lcdGrAltSec<(lcdGrAltSec/2)) || (lcdGmode==1)) {
	for (int32_t i=hStart; i<=numHistory[0]; i++) {
	yE=errorHistory[0][i%N_HISTORY]*10/gscaleE[idxE];
	if (abs32(yE)<=GBOTTOM-GYCENTER) lcdSetPixel(GXORIGIN+i-hStart+offset, GYCENTER-yE);
	if (i==numHistory[0]) lcdDrawCircle(GXORIGIN+i-hStart+offset, constrain(GYCENTER-csecPendError*10/gscaleE[idxE], GTOP, GBOTTOM), 2);
	}
	for (int x=GXORIGIN; x<GXORIGIN+GRAPH_W; x++) {
	if (x%2==0) lcdSetPixel(x, GYCENTER);
	}
	}
	else if ((lcdGmode==0) && (gmtAtSec%lcdGrAltSec>=(lcdGrAltSec/2)) || (lcdGmode==2)) {
	for (int32_t i=hStart; i<=numHistory[0]; i++) {
	yA=(adjHistory[0][i%N_HISTORY]-adjLevel)*10/gscaleA[idxA];
	if (abs16(yA)<=GBOTTOM-GYCENTER) lcdSetPixel(GXORIGIN+i-hStart+offset, GYCENTER-yA);
	}
	if (adjLevel>=0) lcdFillRect(0, GYCENTER-16*adjLevel/ADJ_MAX, GXORIGIN, 16*adjLevel/ADJ_MAX);
	else lcdFillRect(0, GYCENTER, GXORIGIN, -16*adjLevel/ADJ_MAX);
	int16_t yZeroPos=GYCENTER+10*adjLevel/gscaleA[idxA];
	if (yZeroPos>=GTOP && yZeroPos<=GBOTTOM) {
	for (int x=GXORIGIN; x<GXORIGIN+GRAPH_W; x++) {
	if (x%2==0) lcdSetPixel(x, yZeroPos);
	}
	}
	}
	}
	void clearGraph() {
	oled.setColor(BLACK);
	oled.fillRect(0, GTOP-2, 128, GBOTTOM-GTOP+3);
	}
	void setupOled() {
	oled.init();
	oled.setFont(ArialMT_Plain_16);
	}
	void lcdDrawLine(int x0, int y0, int x1, int y1) {
	oled.drawLine(x0, y0, x1, y1);
	}
	void lcdSetColor(OLEDDISPLAY_COLOR color) {
	oled.setColor(color);
	}
	void lcdDrawString(int x0, int y0, String s) {
	oled.drawString(x0, y0, s);
	}
	void lcdSetPixel(int x0, int y0) {
	oled.setPixel(x0, y0);
	}
	void lcdDrawCircle(int x0, int y0, int r) {
	oled.drawCircle(x0, y0, r);
	}
	void lcdFillRect(int x0, int y0, int x1, int y1) {
	oled.fillRect(x0, y0, x1, y1);
	}
	void setupOta() {
	ArduinoOTA.begin();
	ArduinoOTA.onStart([]() {
	detachInterrupt(digitalPinToInterrupt(SENS_PIN));
	oled.clear();
	oled.setFont(ArialMT_Plain_10);
	oled.setTextAlignment(TEXT_ALIGN_CENTER_BOTH);
	oled.drawString(oled.getWidth()/2, oled.getHeight()/2 - 10, "OTA Update");
	oled.display();
	});
	ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
	oled.drawProgressBar(4, 32, 120, 8, progress / (total / 100) );
	oled.display();
	});
	ArduinoOTA.onEnd([]() {
	oled.clear();
	oled.setFont(ArialMT_Plain_10);
	oled.setTextAlignment(TEXT_ALIGN_CENTER_BOTH);
	oled.drawString(oled.getWidth()/2, oled.getHeight()/2, "Restart");
	oled.display();
	});
	}
	void setupFile() {
	SPIFFS.begin();
	if (!SPIFFS.exists(CONFIG_FILE)) {
	SPIFFS.format();
	}
	}
	#ifdef HMC5883
	void magTrigH() {
	if (pendDir==0 && (millis()-milliSensRelease)>minSensOffDuration) {
	pendDir=1;
	sensTrig=true;
	milliSensTrig=millis();
	if (refSet) {
	countPend++;
	csecPend=(int64_t)countPend * (int64_t)pendDur * 100 / (int64_t)pendCycle;
	}
	}
	}
	void magTrigL() {
	if (pendDir==1 && (millis()-milliSensTrig)>minSensOnDuration) {
	pendDir=0;
	sensRelease=true;
	milliSensRelease=millis();
	}
	}
	void setupHMC5883() {
	Wire.beginTransmission(MAG_ADDR);
	Wire.write(0x02); // Register
	Wire.write(0x00); // Continuous Measure
	Wire.endTransmission();
	}
	void getHMC5883() {
	Wire.beginTransmission(MAG_ADDR);
	Wire.write(0x03); //start with register 3.
	Wire.endTransmission();
	Wire.requestFrom(MAG_ADDR, 6);
	if(Wire.available()>=6) {
	magX = Wire.read()<<8; //MSB x
	magX |= Wire.read(); //LSB x
	magZ = Wire.read()<<8; //MSB z
	magZ |= Wire.read(); //LSB z
	magY = Wire.read()<<8; //MSB y
	magY |= Wire.read(); //LSB y
	}
	}
	byte readHMC5883(byte reg) {
	Wire.beginTransmission(MAG_ADDR);
	Wire.write(reg);
	Wire.endTransmission();
	Wire.requestFrom(MAG_ADDR, 1);
	return Wire.read();
	}
	#endif
	void setupMechTiming() {
	pendPeriod=(float)pendDur * 1000.0 / (float)pendCycle; //msec/cycle
	pendPeriodMs=(uint32_t)pendPeriod;
	if (pendPeriodMs>5000) lcdGrAltSec=pendPeriodMs/500;
	else lcdGrAltSec=10;
	float factor;
	#ifdef MIN_SENS_DUR_OFF
	minSensOffDuration = MIN_SENS_DUR_OFF;
	#else
	if (pendPeriod<600) factor=0.3; //balance wheele type
	else if (pendPeriod>4000) factor=0.75; //torsion pendulum type
	else factor=0.5; //gravity pendulum type
	minSensOffDuration = (int32_t)(pendPeriod * factor);
	#endif
	#ifdef MIN_SENS_DUR_ON
	minSensOnDuration = MIN_SENS_DUR_ON;
	#else
	if (pendPeriod<600) factor=0.3;
	else factor=0.01;
	minSensOnDuration = (int32_t)(pendPeriod * factor);
	#endif
	pendWindow = (int32_t)(pendPeriod * 1.3 + 1000.0);
	tuneIntervalMs = (int32_t)pendPeriod * (int32_t)pendTuneCycle; //in msec
	tuneInterval=tuneIntervalMs / 1000; //in sec
	if (liftFactor>=LIFT_SWING) { //torsion pend
	float factP0;
	if (liftFactor<=270) factP0=0.0; //full drive
	else factP0=(float)(liftFactor-270)/600.0; //partial drive 360deg=0.4-0.7
	partial0End=(int32_t)(pendPeriod*(0.55+factP0));
	partial0Start=(int32_t)(pendPeriod*(0.55-factP0));
	}
	}
	void ledOn() {
	digitalWrite(LED_PIN, LED_ON);
	}
	void ledOff() {
	digitalWrite(LED_PIN, LED_OFF);
	}

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