Update

Organize functions in pwmWrite.cpp

Author: Dlloydev

library.json

@@ -3,7 +3,7 @@
     "keywords": "pwm, servo, tone, esp32, analogWrite, esp32-s2, esp32-s3, esp32-c3, ledc",
     "description": "ESP32 PWM, Servo, Easing and Tone. Smart GPIO pin management and advanced control features.",
     "license": "MIT",
-    "version": "5.0.1",
+    "version": "5.0.2",
     "frameworks": "arduino",
     "platforms": "espressif32",
     "repository": {

library.properties

@@ -1,5 +1,5 @@
 name=ESP32 ESP32S2 AnalogWrite
-version=5.0.1
+version=5.0.2
 author=David Lloyd
 maintainer=David Lloyd <dlloydev@testcor.ca>
 sentence=ESP32 PWM, Servo, Easing and Tone.

src/pwmWrite.cpp

@@ -1,5 +1,5 @@
 /*
-   ESP32 PWM, SERVO and TONE Library, Version 5.0.1
+   ESP32 PWM, SERVO and TONE Library, Version 5.0.2
    by dlloydev https://github.com/Dlloydev/ESP32-ESP32S2-AnalogWrite
    License: MIT
 */
@@ -45,90 +45,20 @@ float Pwm::write(int pin, uint32_t duty, uint32_t frequency, uint8_t resolution,
   return mem[ch].frequency;
 }
 
-float Pwm::writeServo(int pin, float value, double speed, double ke) {
-  uint8_t ch = attached(pin);
-  wr_servo(pin, value, speed, ke);
-  return mem[ch].ye; // normalized easing position (0.0 - 1.0)
-}
-
-float Pwm::writeServo(int pin, float value) {
+uint8_t Pwm::attach(int pin) {
   uint8_t ch = attached(pin);
   if (ch == 253) { // free channels exist
     for (uint8_t c = 0; c < chMax; c++) {
       if (mem[c].pin == 255 && ch == 253) { //first free ch
         mem[c].pin = pin;
         ch = c;
-        if (mem[ch].frequency < 40 || mem[ch].frequency > 900) mem[ch].frequency = 50;
-        if (mem[ch].resolution > widthMax) mem[ch].resolution = widthMax;
-        else if (mem[ch].resolution < 14 && widthMax == 20) mem[ch].resolution = 16;
-        else if (mem[ch].resolution < 14) mem[ch].resolution = 14;
         ledcSetup(ch, mem[ch].frequency, mem[ch].resolution);
         if (sync) pause(ch);
         ledcAttachPin(pin, ch);
+        return ch;
       }
     }
   }
-  wr_servo(pin, value, mem[ch].speed, mem[ch].ke);
-  return mem[ch].ye; // normalized easing position (0.0 - 1.0)
-}
-
-void Pwm::tone(int pin, uint32_t frequency, uint16_t duration, uint16_t interval) {
-  uint8_t ch = attach(pin);
-  if (ch < chMax) {
-    uint32_t ms = millis();
-    static bool durDone = false;
-#if defined(CONFIG_IDF_TARGET_ESP32C3)
-    if (frequency < 153) frequency = 153;
-#else
-    if (frequency < 4) frequency = 4;
-#endif
-    if (!durDone) {
-      if (frequency != mem[ch].frequency && (ms - mem[ch].startMs > interval)) {
-        mem[ch].startMs = ms;
-        mem[ch].frequency = frequency;
-        ledcChangeFrequency(ch, frequency, mem[ch].resolution);
-        write(pin, 127, frequency, 8);
-        resume(ch);
-      }
-      if ((duration && ((ms - mem[ch].startMs) > duration)) || (duration == 0)) {
-        mem[ch].startMs = ms;
-        durDone = true;
-        if (duration < 0xffff) pause(ch);
-      }
-    } else if (ms - mem[ch].startMs > interval) durDone = false;
-  }
-}
-
-void Pwm::note(int pin, note_t note, uint8_t octave, uint16_t duration, uint16_t interval) {
-  const uint16_t noteFrequencyBase[12] = {
-    // C       C#        D       Eb        E        F       F#        G       G#        A       Bb        B
-    4186,    4435,    4699,    4978,    5274,    5588,    5920,    6272,    6645,    7040,    7459,    7902
-  };
-  uint32_t noteFreq =  (uint32_t)noteFrequencyBase[note] / (uint32_t)(1 << (8 - octave));
-  if (octave <= 8 || note <= NOTE_MAX) tone(pin, noteFreq, duration, interval);
-}
-
-float Pwm::read(int pin) {
-  uint8_t ch = attached(pin);
-  if (ch < chMax) {
-    float deg = (readMicroseconds(pin) - mem[ch].servoMinUs) / (mem[ch].servoMaxUs - mem[ch].servoMinUs) * 180.0;
-    return deg < 0 ? 0 : deg;
-  }
-  else return 0;
-}
-
-float Pwm::readMicroseconds(int pin) {
-  uint8_t ch = attached(pin);
-  if (ch < chMax) return mem[ch].duty * ((1000000.0 / mem[ch].frequency) / ((1 << mem[ch].resolution) - 1.0)); // μs
-  else return 0;
-}
-
-uint8_t Pwm::attach(int pin) {
-  uint8_t ch = firstFreeCh();
-  if (ch < chMax) mem[ch].pin = pin;
-  ledcSetup(ch, mem[ch].frequency, mem[ch].resolution);
-  if (sync) pause(ch);
-  ledcAttachPin(pin, ch);
   return ch;
 }
 
@@ -180,8 +110,7 @@ uint8_t Pwm::attachServo(int pin, int ch) {
 
 uint8_t Pwm::attachServo(int pin, int ch, bool invert) {
   if (ch < chMax) config_servo(ch, mem[ch].servoMinUs, mem[ch].servoMaxUs);
-  uint8_t chan = (invert) ? attachInvert(pin, ch) : attach(pin, ch);
-  return chan;
+  return (invert) ? attachInvert(pin, ch) : attach(pin, ch);
 }
 
 uint8_t Pwm::attachServo(int pin, int minUs, int maxUs) {
@@ -197,8 +126,7 @@ uint8_t Pwm::attachServo(int pin, int ch, int minUs, int maxUs) {
 
 uint8_t Pwm::attachServo(int pin, int ch, int minUs, int maxUs, bool invert) {
   config_servo(ch, minUs, maxUs);
-  uint8_t chan = (invert) ? attachInvert(pin, ch) : attach(pin, ch);
-  return chan;
+  return (invert) ? attachInvert(pin, ch) : attach(pin, ch);
 }
 
 uint8_t Pwm::attachServo(int pin, int minUs, int maxUs, double speed, double ke) {
@@ -214,8 +142,85 @@ uint8_t Pwm::attachServo(int pin, int ch, int minUs, int maxUs, double speed, do
 
 uint8_t Pwm::attachServo(int pin, int ch, int minUs, int maxUs, double speed, double ke, bool invert) {
   config_servo(ch, minUs, maxUs, speed, ke);
-  uint8_t chan = (invert) ? attachInvert(pin, ch) : attach(pin, ch);
-  return chan;
+  return (invert) ? attachInvert(pin, ch) : attach(pin, ch);
+}
+
+float Pwm::read(int pin) {
+  uint8_t ch = attached(pin);
+  if (ch < chMax) {
+    float deg = (readMicroseconds(pin) - mem[ch].servoMinUs) / (mem[ch].servoMaxUs - mem[ch].servoMinUs) * 180.0;
+    return deg < 0 ? 0 : deg;
+  }
+  else return 0;
+}
+
+float Pwm::readMicroseconds(int pin) {
+  uint8_t ch = attached(pin);
+  if (ch < chMax) return mem[ch].duty * ((1000000.0 / mem[ch].frequency) / ((1 << mem[ch].resolution) - 1.0)); // μs
+  else return 0;
+}
+
+float Pwm::writeServo(int pin, float value, double speed, double ke) {
+  uint8_t ch = attached(pin);
+  wr_servo(pin, value, speed, ke);
+  return mem[ch].ye; // normalized easing position (0.0 - 1.0)
+}
+
+float Pwm::writeServo(int pin, float value) {
+  uint8_t ch = attached(pin);
+  if (ch == 253) { // free channels exist
+    for (uint8_t c = 0; c < chMax; c++) {
+      if (mem[c].pin == 255 && ch == 253) { //first free ch
+        mem[c].pin = pin;
+        ch = c;
+        if (mem[ch].frequency < 40 || mem[ch].frequency > 900) mem[ch].frequency = 50;
+        if (mem[ch].resolution > widthMax) mem[ch].resolution = widthMax;
+        else if (mem[ch].resolution < 14 && widthMax == 20) mem[ch].resolution = 16;
+        else if (mem[ch].resolution < 14) mem[ch].resolution = 14;
+        ledcSetup(ch, mem[ch].frequency, mem[ch].resolution);
+        if (sync) pause(ch);
+        ledcAttachPin(pin, ch);
+      }
+    }
+  }
+  wr_servo(pin, value, mem[ch].speed, mem[ch].ke);
+  return mem[ch].ye; // normalized easing position (0.0 - 1.0)
+}
+
+void Pwm::tone(int pin, uint32_t frequency, uint16_t duration, uint16_t interval) {
+  uint8_t ch = attach(pin);
+  if (ch < chMax) {
+    uint32_t ms = millis();
+    static bool durDone = false;
+#if defined(CONFIG_IDF_TARGET_ESP32C3)
+    if (frequency < 153) frequency = 153;
+#else
+    if (frequency < 4) frequency = 4;
+#endif
+    if (!durDone) {
+      if (frequency != mem[ch].frequency && (ms - mem[ch].startMs > interval)) {
+        mem[ch].startMs = ms;
+        mem[ch].frequency = frequency;
+        ledcChangeFrequency(ch, frequency, mem[ch].resolution);
+        write(pin, 127, frequency, 8);
+        resume(ch);
+      }
+      if ((duration && ((ms - mem[ch].startMs) > duration)) || (duration == 0)) {
+        mem[ch].startMs = ms;
+        durDone = true;
+        if (duration < 0xffff) pause(ch);
+      }
+    } else if (ms - mem[ch].startMs > interval) durDone = false;
+  }
+}
+
+void Pwm::note(int pin, note_t note, uint8_t octave, uint16_t duration, uint16_t interval) {
+  const uint16_t noteFrequencyBase[12] = {
+    // C       C#        D       Eb        E        F       F#        G       G#        A       Bb        B
+    4186,    4435,    4699,    4978,    5274,    5588,    5920,    6272,    6645,    7040,    7459,    7902
+  };
+  uint32_t noteFreq =  (uint32_t)noteFrequencyBase[note] / (uint32_t)(1 << (8 - octave));
+  if (octave <= 8 || note <= NOTE_MAX) tone(pin, noteFreq, duration, interval);
 }
 
 uint8_t Pwm::attached(int pin) {
@@ -243,9 +248,9 @@ void Pwm::detach(int pin) {
   uint8_t ch = attached(pin);
   if (ch < chMax) {
     reset_fields(ch);
-    if (digitalRead(pin) == HIGH) delay (3); // wait until low
-    ledcWrite(ch, 4); // minimal duty for jitterless detach
-    ledcDetachPin(mem[ch].pin);
+    if (digitalRead(pin) == HIGH) delayMicroseconds(mem[ch].servoMaxUs); // wait until LOW
+    ledcWrite(ch, 4); // set minimal duty
+    ledcDetachPin(mem[ch].pin); // jitterless
     REG_SET_FIELD(GPIO_PIN_MUX_REG[pin], MCU_SEL, GPIO_MODE_DEF_DISABLE);
   }
 }