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[ESP-IDF5.1] Add support for ESP-IDF 5.1 (ESP32 Arduino 3.0) #27

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[ESP-IDF5.1] Add support for ESP-IDF 5.1 (ESP32 Arduino 3.0) #27

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4 changes: 3 additions & 1 deletion src/Servo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,4 +33,6 @@
// Implementation is in Servo.h
#include <Servo.h>

int ServoBase::channel_next_free = 0;
#if ESP_IDF_VERSION_MAJOR < 5
int ServoBase::channel_next_free = 0;
#endif
37 changes: 33 additions & 4 deletions src/Servo.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,10 @@

#include "Arduino.h"

#if ESP_IDF_VERSION_MAJOR >= 5
#include <driver/ledc.h>
#endif

class ServoBase {
protected:
// The main purpose of ServoBase is to make sure that multiple instances of
Expand Down Expand Up @@ -65,8 +69,12 @@ class ServoTemplate : public ServoBase {

static const int DEFAULT_FREQUENCY = 50;

static const int TIMER_RESOLUTION = std::min(16, SOC_LEDC_TIMER_BIT_WIDE_NUM);
static const int PERIOD_TICKS = (1 << TIMER_RESOLUTION) - 1;
#if ESP_IDF_VERSION_MAJOR >= 5
static constexpr int TIMER_RESOLUTION = (16 < SOC_LEDC_TIMER_BIT_WIDTH) ? 16 : SOC_LEDC_TIMER_BIT_WIDTH;
#else
static constexpr int TIMER_RESOLUTION = (16 < SOC_LEDC_TIMER_BIT_WIDE_NUM) ? 16 : SOC_LEDC_TIMER_BIT_WIDE_NUM; // std::min(16, SOC_LEDC_TIMER_BIT_WIDE_NUM);
#endif
static constexpr int PERIOD_TICKS = (1 << TIMER_RESOLUTION) - 1;

static const int CHANNEL_NOT_ATTACHED = -1;

Expand Down Expand Up @@ -128,6 +136,7 @@ class ServoTemplate : public ServoBase {
if (tempPeriodUs <= maxPulseWidthUs) {
return false;
}
#if ESP_IDF_VERSION_MAJOR < 5
if (channel == CHANNEL_NOT_ATTACHED) {
if (channel_next_free == LEDC_CHANNELS) {
return false;
Expand All @@ -137,6 +146,7 @@ class ServoTemplate : public ServoBase {
} else {
_channel = channel;
}
#endif

_pin = pin;
_minAngle = minAngle;
Expand All @@ -145,8 +155,12 @@ class ServoTemplate : public ServoBase {
_maxPulseWidthUs = maxPulseWidthUs;
_periodUs = tempPeriodUs;

#if ESP_IDF_VERSION_MAJOR < 5
ledcSetup(_channel, frequency, TIMER_RESOLUTION);
ledcAttachPin(_pin, _channel);
#else
ledcAttach(_pin, frequency, TIMER_RESOLUTION);
#endif
return true;
}

Expand All @@ -161,11 +175,14 @@ class ServoTemplate : public ServoBase {
if (!this->attached()) {
return false;
}

#if ESP_IDF_VERSION_MAJOR < 5
if (_channel == (channel_next_free - 1))
channel_next_free--;

ledcDetachPin(_pin);
#else
ledcDetach(_pin);
#endif
_pin = PIN_NOT_ATTACHED;
return true;
}
Expand Down Expand Up @@ -200,7 +217,11 @@ class ServoTemplate : public ServoBase {
}
pulseWidthUs = constrain(pulseWidthUs, _minPulseWidthUs, _maxPulseWidthUs);
_pulseWidthTicks = _usToTicks(pulseWidthUs);
#if ESP_IDF_VERSION_MAJOR < 5
ledcWrite(_channel, _pulseWidthTicks);
#else
ledcWrite(_pin, _pulseWidthTicks);
#endif
}

/**
Expand All @@ -221,7 +242,11 @@ class ServoTemplate : public ServoBase {
if (!this->attached()) {
return 0;
}
int duty = ledcRead(_channel);
#if ESP_IDF_VERSION_MAJOR < 5
const int duty = ledcRead(_channel);
#else
const int duty = ledcRead(_pin);
#endif
return _ticksToUs(duty);
}

Expand All @@ -244,7 +269,9 @@ class ServoTemplate : public ServoBase {
void _resetFields(void) {
_pin = PIN_NOT_ATTACHED;
_pulseWidthTicks = 0;
#if ESP_IDF_VERSION_MAJOR < 5
_channel = CHANNEL_NOT_ATTACHED;
#endif
_minAngle = DEFAULT_MIN_ANGLE;
_maxAngle = DEFAULT_MAX_ANGLE;
_minPulseWidthUs = DEFAULT_MIN_PULSE_WIDTH_US;
Expand All @@ -270,7 +297,9 @@ class ServoTemplate : public ServoBase {

int _pin;
int _pulseWidthTicks;
#if ESP_IDF_VERSION_MAJOR < 5
int _channel;
#endif
int _minPulseWidthUs, _maxPulseWidthUs;
T _minAngle, _maxAngle;
int _periodUs;
Expand Down