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DlloydevDlloydev
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Update ESP32 Support
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5 files changed

+245
-84
lines changed

5 files changed

+245
-84
lines changed

‎QuickPID.cpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
/**********************************************************************************
2-
QuickPID Library for Arduino - Version 2.2.4
2+
QuickPID Library for Arduino - Version 2.2.5
33
by dlloydev https://github.com/Dlloydev/QuickPID
44
Based on the Arduino PID Library, licensed under the MIT License
55
**********************************************************************************/

‎QuickPID.h

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -111,7 +111,7 @@ static const byte TRY_AUTOMATIC = 1;
111111

112112
};
113113

114-
#if defined(ESP32)
114+
#if (defined(ESP32) || defined(ARDUINO_ARCH_ESP32))
115115
#include "utility/analogWrite.h"
116116
#endif
117117

‎library.properties

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
name=QuickPID
2-
version=2.2.4
2+
version=2.2.5
33
author=David Lloyd
44
maintainer=David Lloyd <[email protected]>
55
sentence=A fast fixed/floating point PID controller with AutoTune and 9 tuning rules to choose from.

‎utility/analogWrite.cpp

Lines changed: 220 additions & 76 deletions
Original file line numberDiff line numberDiff line change
@@ -1,86 +1,62 @@
11
/**********************************************************************************
2-
AnalogWrite Library for ESP32-ESP32S2 Arduino core - Version 1.1.0
2+
AnalogWrite Library for ESP32-ESP32S2 Arduino core - Version 2.0.6
33
by dlloydev https://github.com/Dlloydev/ESP32-ESP32S2-AnalogWrite
44
This Library is licensed under the MIT License
55
**********************************************************************************/
66

77
#include <Arduino.h>
88
#include "analogWrite.h"
99

10+
namespace aw {
11+
1012
#if (CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3)
1113
pinStatus_t pinsStatus[8] = {
12-
{0, -1, 5000, 13, 0 }, {2, -1, 5000, 13, 0 },
13-
{4, -1, 5000, 13, 0 }, {6, -1, 5000, 13, 0 },
14-
{1, -1, 5000, 13, 0 }, {3, -1, 5000, 13, 0 },
15-
{5, -1, 5000, 13, 0 }, {7, -1, 5000, 13, 0 }
14+
{0, -1, 980, 8, 0, 0 }, {2, -1, 980, 8, 0, 0 },
15+
{4, -1, 980, 8, 0, 0 }, {6, -1, 980, 8, 0, 0 },
16+
{1, -1, 980, 8, 0, 0 }, {3, -1, 980, 8, 0, 0 },
17+
{5, -1, 980, 8, 0, 0 }, {7, -1, 980, 8, 0, 0 }
1618
};
1719
const uint8_t chd = 1;
1820
#else //ESP32
1921
pinStatus_t pinsStatus[8] = {
20-
{ 0, -1, 5000, 13, 0 }, { 2, -1, 5000, 13, 0 },
21-
{ 4, -1, 5000, 13, 0 }, { 6, -1, 5000, 13, 0 },
22-
{ 8, -1, 5000, 13, 0 }, {10, -1, 5000, 13, 0 },
23-
{12, -1, 5000, 13, 0 }, {14, -1, 5000, 13, 0 }
22+
{ 0, -1, 980, 8, 0, 0 }, { 2, -1, 980, 8, 0, 0 },
23+
{ 4, -1, 980, 8, 0, 0 }, { 6, -1, 980, 8, 0, 0 },
24+
{ 8, -1, 980, 8, 0, 0 }, {10, -1, 980, 8, 0, 0 },
25+
{12, -1, 980, 8, 0, 0 }, {14, -1, 980, 8, 0, 0 }
2426
};
2527
const uint8_t chd = 2;
2628
#endif
2729

28-
void analogWrite(int8_t pin, int32_t value) {
29-
if (pin == DAC1 || pin == DAC2) { //dac
30-
if (value > 255) value = 255;
31-
dacWrite(pin, value);
32-
} else { //pwm
33-
int8_t ch = getChannel(pin);
34-
if (ch >= 0) {
35-
if (value == -1) { //detach pin
36-
pinsStatus[ch / chd].pin = -1;
37-
pinsStatus[ch / chd].frequency = 5000;
38-
pinsStatus[ch / chd].resolution = 13;
39-
ledcDetachPin(pinsStatus[ch / chd].pin);
40-
REG_SET_FIELD(GPIO_PIN_MUX_REG[pin], MCU_SEL, GPIO_MODE_DEF_DISABLE);
41-
} else { // attached
42-
int32_t valueMax = (pow(2, pinsStatus[ch / chd].resolution)) - 1;
43-
if (value > valueMax) { // full ON
44-
value = valueMax + 1;
45-
ledcDetachPin(pin);
46-
pinMode(pin, OUTPUT);
47-
digitalWrite(pin, HIGH);
48-
} else { // write PWM
49-
ledcSetup(ch, pinsStatus[ch / chd].frequency, pinsStatus[ch / chd].resolution);
50-
ledcWrite(ch, value);
51-
}
52-
pinsStatus[ch / chd].value = value;
53-
}
54-
}
55-
}
30+
float awLedcSetup(uint8_t ch, double frequency, uint8_t bits) {
31+
#if (CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3)
32+
frequency *= 80; //workaround for issue 5050
33+
return ledcSetup(ch, frequency, bits) / 80;
34+
#else //ESP32
35+
return ledcSetup(ch, frequency, bits);
36+
#endif
5637
}
5738

58-
float analogWriteFrequency(int8_t pin, float frequency) {
59-
int8_t ch = getChannel(pin);
60-
if (ch >= 0) {
61-
if ((pinsStatus[ch / chd].pin) > 47) return -1;
62-
pinsStatus[ch / chd].pin = pin;
63-
pinsStatus[ch / chd].frequency = frequency;
64-
//ledcChangeFrequency(ch, frequency, pinsStatus[ch / chd].resolution);
65-
ledcSetup(ch, frequency, pinsStatus[ch / chd].resolution);
66-
ledcWrite(ch, pinsStatus[ch / chd].value);
67-
}
68-
return ledcReadFreq(ch);
39+
void awDetachPin(uint8_t pin, uint8_t ch) {
40+
pinsStatus[ch / chd].pin = -1;
41+
pinsStatus[ch / chd].value = 0;
42+
pinsStatus[ch / chd].frequency = 980;
43+
pinsStatus[ch / chd].resolution = 8;
44+
pinsStatus[ch / chd].phase = 0;
45+
ledcWrite(ch / chd, 0);
46+
ledcSetup(ch / chd, 0, 0);
47+
ledcDetachPin(pinsStatus[ch / chd].pin);
48+
REG_SET_FIELD(GPIO_PIN_MUX_REG[pin], MCU_SEL, GPIO_MODE_DEF_DISABLE);
6949
}
7050

71-
int32_t analogWriteResolution(int8_t pin, uint8_t resolution) {
72-
int8_t ch = getChannel(pin);
73-
if (ch >= 0) {
74-
if ((pinsStatus[ch / chd].pin) > 47) return -1;
75-
pinsStatus[ch / chd].pin = pin;
76-
pinsStatus[ch / chd].resolution = resolution;
77-
ledcSetup(ch, pinsStatus[ch / chd].frequency, resolution);
78-
ledcWrite(ch, pinsStatus[ch / chd].value);
79-
}
80-
return pow(2, resolution);
51+
float awLedcReadFreq(uint8_t ch) {
52+
#if (CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3)
53+
return ledcReadFreq(ch) / 80; //workaround for issue 5050
54+
#else //ESP32
55+
return ledcReadFreq(ch);
56+
#endif
8157
}
8258

83-
int8_t getChannel(int8_t pin) {
59+
int8_t awGetChannel(int8_t pin) {
8460
if (!((pinMask >> pin) & 1)) return -1; //not pwm pin
8561
for (int8_t i = 0; i < 8; i++) {
8662
int8_t ch = pinsStatus[i].channel;
@@ -95,6 +71,7 @@ int8_t getChannel(int8_t pin) {
9571
if (pinsStatus[ch / chd].pin == -1) { //free channel
9672
if ((ledcRead(ch) < 1) && (ledcReadFreq(ch) < 1)) { //free timer
9773
pinsStatus[ch / chd].pin = pin;
74+
aw::awLedcSetup(ch, pinsStatus[ch / chd].frequency, pinsStatus[ch / chd].resolution);
9875
ledcAttachPin(pin, ch);
9976
return ch;
10077
break;
@@ -112,38 +89,205 @@ int8_t getChannel(int8_t pin) {
11289
return -1;
11390
}
11491

92+
} //namespace aw
93+
94+
float analogWrite(int8_t pin, int32_t value) {
95+
if (pin == DAC1 || pin == DAC2) { //dac
96+
if (value > 255) value = 255;
97+
dacWrite(pin, value);
98+
} else {
99+
int8_t ch = aw::awGetChannel(pin);
100+
if (ch >= 0) {
101+
if (value == -1) aw::awDetachPin(pin, ch);
102+
else { // write PWM
103+
uint8_t bits = aw::pinsStatus[ch / aw::chd].resolution;
104+
if (value > ((1 << bits) - 1)) value = (1 << bits); //constrain
105+
if ((bits > 7) && (value == ((1 << bits) - 1))) value = (1 << bits); //keep PWM high
106+
if (ledcRead(ch) != value) ledcWrite(ch, value);
107+
aw::pinsStatus[ch / aw::chd].value = value;
108+
}
109+
}
110+
return aw::awLedcReadFreq(ch);
111+
}
112+
return 0;
113+
}
114+
115+
float analogWrite(int8_t pin, int32_t value, float frequency) {
116+
if (pin == DAC1 || pin == DAC2) { //dac
117+
if (value > 255) value = 255;
118+
dacWrite(pin, value);
119+
} else {
120+
int8_t ch = aw::awGetChannel(pin);
121+
if (ch >= 0) {
122+
if ((aw::pinsStatus[ch / aw::chd].pin) > 47) return -1;
123+
if (value == -1) aw::awDetachPin(pin, ch);
124+
else { // write PWM
125+
uint8_t bits = aw::pinsStatus[ch / aw::chd].resolution;
126+
if (value > ((1 << bits) - 1)) value = (1 << bits); //constrain
127+
if ((bits > 7) && (value == ((1 << bits) - 1))) value = (1 << bits); //keep PWM high
128+
if (aw::pinsStatus[ch / aw::chd].frequency != frequency) {
129+
aw::awLedcSetup(ch, frequency, bits);
130+
ledcWrite(ch, value);
131+
aw::pinsStatus[ch / aw::chd].frequency = frequency;
132+
}
133+
if (aw::pinsStatus[ch / aw::chd].value != value) {
134+
ledcWrite(ch, value);
135+
aw::pinsStatus[ch / aw::chd].value = value;
136+
}
137+
}
138+
}
139+
return aw::awLedcReadFreq(ch);
140+
}
141+
return 0;
142+
}
143+
144+
float analogWrite(int8_t pin, int32_t value, float frequency, uint8_t resolution) {
145+
if (pin == DAC1 || pin == DAC2) { //dac
146+
if (value > 255) value = 255;
147+
dacWrite(pin, value);
148+
} else {
149+
int8_t ch = aw::awGetChannel(pin);
150+
if (ch >= 0) {
151+
if ((aw::pinsStatus[ch / aw::chd].pin) > 47) return -1;
152+
if (value == -1) aw::awDetachPin(pin, ch);
153+
else { // write PWM
154+
uint8_t bits = resolution & 0xF;
155+
if (value > ((1 << bits) - 1)) value = (1 << bits); //constrain
156+
if ((bits > 7) && (value == ((1 << bits) - 1))) value = (1 << bits); //keep PWM high
157+
if ((aw::pinsStatus[ch / aw::chd].frequency != frequency) || (aw::pinsStatus[ch / aw::chd].resolution != bits)) {
158+
aw::awLedcSetup(ch, frequency, bits);
159+
ledcWrite(ch, value);
160+
aw::pinsStatus[ch / aw::chd].frequency = frequency;
161+
aw::pinsStatus[ch / aw::chd].resolution = bits;
162+
}
163+
if (aw::pinsStatus[ch / aw::chd].value != value) {
164+
ledcWrite(ch, value);
165+
aw::pinsStatus[ch / aw::chd].value = value;
166+
}
167+
}
168+
}
169+
return aw::awLedcReadFreq(ch);
170+
}
171+
return 0;
172+
}
173+
174+
float analogWrite(int8_t pin, int32_t value, float frequency, uint8_t resolution, uint32_t phase) {
175+
if (pin == DAC1 || pin == DAC2) { //dac
176+
if (value > 255) value = 255;
177+
dacWrite(pin, value);
178+
} else {
179+
int8_t ch = aw::awGetChannel(pin);
180+
if (ch >= 0) {
181+
if ((aw::pinsStatus[ch / aw::chd].pin) > 47) return -1;
182+
if (value == -1) aw::awDetachPin(pin, ch);
183+
else { // write PWM
184+
uint8_t bits = resolution & 0xF;
185+
if (value > ((1 << bits) - 1)) value = (1 << bits); //constrain
186+
if ((bits > 7) && (value == ((1 << bits) - 1))) value = (1 << bits); //keep PWM high
187+
if ((aw::pinsStatus[ch / aw::chd].frequency != frequency) || (aw::pinsStatus[ch / aw::chd].resolution != bits)) {
188+
aw::awLedcSetup(ch, frequency, bits);
189+
ledcWrite(ch, value);
190+
aw::pinsStatus[ch / aw::chd].frequency = frequency;
191+
aw::pinsStatus[ch / aw::chd].resolution = bits;
192+
}
193+
if (aw::pinsStatus[ch / aw::chd].phase != phase) {
194+
uint32_t group = (ch / 8), timer = ((ch / 2) % 4);
195+
aw::ledc_channel_config_t ledc_channel {
196+
(uint8_t)pin,
197+
(aw::ledc_mode_t)group,
198+
(aw::ledc_channel_t)ch,
199+
aw::LEDC_INTR_DISABLE,
200+
(aw::ledc_timer_t)timer,
201+
(uint32_t)value,
202+
(int)phase,
203+
};
204+
ledc_channel_config(&ledc_channel);
205+
ledc_set_duty_with_hpoint((aw::ledc_mode_t)group, (aw::ledc_channel_t)ch, value, phase);
206+
aw::pinsStatus[ch / aw::chd].phase = phase;
207+
}
208+
if (aw::pinsStatus[ch / aw::chd].value != value) {
209+
ledcWrite(ch, value);
210+
aw::pinsStatus[ch / aw::chd].value = value;
211+
}
212+
}
213+
}
214+
return aw::awLedcReadFreq(ch);
215+
}
216+
return 0;
217+
}
218+
219+
float analogWriteFrequency(int8_t pin, float frequency) {
220+
int8_t ch = aw::awGetChannel(pin);
221+
if (ch >= 0) {
222+
if ((aw::pinsStatus[ch / aw::chd].pin) > 47) return -1;
223+
if (aw::pinsStatus[ch / aw::chd].frequency != frequency) {
224+
aw::awLedcSetup(ch, frequency, aw::pinsStatus[ch / aw::chd].resolution);
225+
ledcWrite(ch, aw::pinsStatus[ch / aw::chd].value);
226+
aw::pinsStatus[ch / aw::chd].frequency = frequency;
227+
}
228+
}
229+
return aw::awLedcReadFreq(ch);
230+
}
231+
232+
int32_t analogWriteResolution(int8_t pin, uint8_t resolution) {
233+
int8_t ch = aw::awGetChannel(pin);
234+
if (ch >= 0) {
235+
if ((aw::pinsStatus[ch / aw::chd].pin) > 47) return -1;
236+
if (aw::pinsStatus[ch / aw::chd].resolution != resolution) {
237+
aw::awLedcSetup(ch, aw::pinsStatus[ch / aw::chd].frequency, resolution & 0xF);
238+
ledcWrite(ch, aw::pinsStatus[ch / aw::chd].value);
239+
aw::pinsStatus[ch / aw::chd].resolution = resolution & 0xF;
240+
}
241+
}
242+
return 1 << resolution & 0xF;
243+
}
244+
245+
void setPinsStatusDefaults(int32_t value, float frequency, uint8_t resolution, uint32_t phase) {
246+
for (int8_t i = 0; i < 8; i++) {
247+
aw::pinsStatus[i].value = value;
248+
aw::pinsStatus[i].frequency = frequency;
249+
aw::pinsStatus[i].resolution = resolution;
250+
aw::pinsStatus[i].phase = phase;
251+
}
252+
}
253+
115254
void printPinsStatus() {
116255
Serial.print("PWM pins: ");
117-
for (int i = 0; i < muxSize; i++) {
118-
if ((pinMask >> i) & 1) {
256+
for (int i = 0; i < aw::muxSize; i++) {
257+
if ((aw::pinMask >> i) & 1) {
119258
Serial.print(i); Serial.print(", ");
120259
}
121260
}
122261
Serial.println();
123262

124263
Serial.println();
125264
for (int i = 0; i < 8; i++) {
126-
int ch = pinsStatus[i].channel;
265+
int ch = aw::pinsStatus[i].channel;
127266
Serial.print("ch: ");
128267
if (ch < 10) Serial.print(" "); Serial.print(ch); Serial.print(" ");
129268
Serial.print("Pin: ");
130-
if ((pinsStatus[ch / chd].pin >= 0) && (pinsStatus[ch / chd].pin < 10)) Serial.print(" ");
131-
Serial.print(pinsStatus[ch / chd].pin); Serial.print(" ");
269+
if ((aw::pinsStatus[ch / aw::chd].pin >= 0) && (aw::pinsStatus[ch / aw::chd].pin < 10)) Serial.print(" ");
270+
Serial.print(aw::pinsStatus[ch / aw::chd].pin); Serial.print(" ");
132271
Serial.print("Hz: ");
133-
if (ledcReadFreq(ch) < 10000) Serial.print(" ");
134-
if (ledcReadFreq(ch) < 1000) Serial.print(" ");
135-
if (ledcReadFreq(ch) < 100) Serial.print(" ");
136-
if (ledcReadFreq(ch) < 10) Serial.print(" ");
137-
Serial.print(ledcReadFreq(ch)); Serial.print(" ");
272+
if (aw::awLedcReadFreq(ch) < 10000) Serial.print(" ");
273+
if (aw::awLedcReadFreq(ch) < 1000) Serial.print(" ");
274+
if (aw::awLedcReadFreq(ch) < 100) Serial.print(" ");
275+
if (aw::awLedcReadFreq(ch) < 10) Serial.print(" ");
276+
Serial.print(aw::awLedcReadFreq(ch)); Serial.print(" ");
138277
Serial.print("Bits: ");
139-
if (pinsStatus[ch / chd].resolution < 10) Serial.print(" ");
140-
Serial.print(pinsStatus[ch / chd].resolution); Serial.print(" ");
278+
if (aw::pinsStatus[ch / aw::chd].resolution < 10) Serial.print(" ");
279+
Serial.print(aw::pinsStatus[ch / aw::chd].resolution); Serial.print(" ");
141280
Serial.print("Duty: ");
142-
if (pinsStatus[ch / chd].value < 10000) Serial.print(" ");
143-
if (pinsStatus[ch / chd].value < 1000) Serial.print(" ");
144-
if (pinsStatus[ch / chd].value < 100) Serial.print(" ");
145-
if (pinsStatus[ch / chd].value < 10) Serial.print(" ");
146-
Serial.print(pinsStatus[ch / chd].value);
281+
if (aw::pinsStatus[ch / aw::chd].value < 10000) Serial.print(" ");
282+
if (aw::pinsStatus[ch / aw::chd].value < 1000) Serial.print(" ");
283+
if (aw::pinsStatus[ch / aw::chd].value < 100) Serial.print(" ");
284+
if (aw::pinsStatus[ch / aw::chd].value < 10) Serial.print(" ");
285+
Serial.print(aw::pinsStatus[ch / aw::chd].value); Serial.print(" ");
286+
Serial.print("Ø: ");
287+
if (aw::pinsStatus[ch / aw::chd].phase < 1000) Serial.print(" ");
288+
if (aw::pinsStatus[ch / aw::chd].phase < 100) Serial.print(" ");
289+
if (aw::pinsStatus[ch / aw::chd].phase < 10) Serial.print(" ");
290+
Serial.print(aw::pinsStatus[ch / aw::chd].phase);
147291
Serial.println();
148292
}
149293
}

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