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Version 2.4.7

    Changed outputSum, outMin, outMax and error variables from int to float (issue #27)
    Update condition (line 64) in PID_RelayOutput example (issue #25)
    Update analogWrite.cpp and analogWrite.h to version 2.0.9
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@Dlloydev
Dlloydev committed Sep 19, 2021
1 parent 11a10e1 commit 91b639f
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Showing 7 changed files with 44 additions and 65 deletions.
2 changes: 1 addition & 1 deletion examples/PID_RelayOutput/PID_RelayOutput.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,6 @@ void loop()
windowStartTime += WindowSize;
myQuickPID.Compute();
}
if (((unsigned int)Output > minWindow) && ((unsigned int)Output < (millis() - windowStartTime))) digitalWrite(RELAY_PIN, HIGH);
if (((unsigned int)Output > minWindow) && ((unsigned int)Output > (millis() - windowStartTime))) digitalWrite(RELAY_PIN, HIGH);
else digitalWrite(RELAY_PIN, LOW);
}
4 changes: 2 additions & 2 deletions library.json
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
{
"name": "QuickPID",
"version": "2.4.6",
"version": "2.4.7",
"description": "A fast PID controller with AutoTune dynamic object, 10 tuning rules, Integral anti-windup, TIMER Mode and mixing of Proportional and Derivative on Error to Measurement. Also includes analogWrite compatibility for ESP32 and ESP32-S2.",
"keywords": "PID, controller, signal",
"repository":
Expand All @@ -22,6 +22,6 @@
"dependencies": {
"QuickPID": "~2.4.6"
},
"frameworks": "*",
"frameworks": "arduino",
"platforms": "*"
}
2 changes: 1 addition & 1 deletion library.properties
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=QuickPID
version=2.4.6
version=2.4.7
author=David Lloyd
maintainer=David Lloyd <dlloydev@testcor.ca>
sentence=A fast PID controller with AutoTune dynamic object, 10 tuning rules, Integral anti-windup, TIMER Mode and mixing of Proportional and Derivative on Error to Measurement.
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2 changes: 1 addition & 1 deletion src/QuickPID.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/**********************************************************************************
QuickPID Library for Arduino - Version 2.4.6
QuickPID Library for Arduino - Version 2.4.7
by dlloydev https://github.com/Dlloydev/QuickPID
Based on the Arduino PID Library and work on AutoTunePID class
by gnalbandian (Gonzalo). Licensed under the MIT License.
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4 changes: 1 addition & 3 deletions src/QuickPID.h
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Original file line number Diff line number Diff line change
Expand Up @@ -151,9 +151,7 @@ class QuickPID {
mode_t mode = MANUAL;
direction_t controllerDirection;
uint32_t sampleTimeUs, lastTime;
int outMin, outMax, error;
int outputSum;
float lastInput;
float outputSum, outMin, outMax, error, lastInput;
bool inAuto;

}; // class QuickPID
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93 changes: 38 additions & 55 deletions src/analogWrite.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/**********************************************************************************
AnalogWrite Library for ESP32-ESP32S2 Arduino core - Version 2.0.8
AnalogWrite Library for ESP32-ESP32S2 Arduino core - Version 2.0.9
by dlloydev https://github.com/Dlloydev/ESP32-ESP32S2-AnalogWrite
This Library is licensed under the MIT License
**********************************************************************************/
Expand Down Expand Up @@ -29,15 +29,6 @@ pinStatus_t pinsStatus[8] = {
const uint8_t chd = 2;
#endif

float awLedcSetup(uint8_t ch, double frequency, uint8_t bits) {
#if (CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3)
frequency *= 80; //workaround for issue 5050
return ledcSetup(ch, frequency, bits) / 80;
#else //ESP32
return ledcSetup(ch, frequency, bits);
#endif
}

void awDetachPin(uint8_t pin, uint8_t ch) {
pinsStatus[ch / chd].pin = -1;
pinsStatus[ch / chd].value = 0;
Expand All @@ -50,14 +41,6 @@ void awDetachPin(uint8_t pin, uint8_t ch) {
REG_SET_FIELD(GPIO_PIN_MUX_REG[pin], MCU_SEL, GPIO_MODE_DEF_DISABLE);
}

float awLedcReadFreq(uint8_t ch) {
#if (CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3)
return ledcReadFreq(ch) / 80; //workaround for issue 5050
#else //ESP32
return ledcReadFreq(ch);
#endif
}

int8_t awGetChannel(int8_t pin) {
if (!((pinMask >> pin) & 1)) return -1; //not pwm pin
for (int8_t i = 0; i < 8; i++) {
Expand All @@ -73,7 +56,7 @@ int8_t awGetChannel(int8_t pin) {
if (pinsStatus[ch / chd].pin == -1) { //free channel
if ((ledcRead(ch) < 1) && (ledcReadFreq(ch) < 1)) { //free timer
pinsStatus[ch / chd].pin = pin;
aw::awLedcSetup(ch, pinsStatus[ch / chd].frequency, pinsStatus[ch / chd].resolution);
ledcSetup(ch, pinsStatus[ch / chd].frequency, pinsStatus[ch / chd].resolution);
ledcAttachPin(pin, ch);
return ch;
break;
Expand Down Expand Up @@ -109,7 +92,7 @@ float analogWrite(int8_t pin, int32_t value) {
aw::pinsStatus[ch / aw::chd].value = value;
}
}
return aw::awLedcReadFreq(ch);
return ledcReadFreq(ch);
}
return 0;
}
Expand All @@ -128,7 +111,7 @@ float analogWrite(int8_t pin, int32_t value, float frequency) {
if (value > ((1 << bits) - 1)) value = (1 << bits); //constrain
if ((bits > 7) && (value == ((1 << bits) - 1))) value = (1 << bits); //keep PWM high
if (aw::pinsStatus[ch / aw::chd].frequency != frequency) {
aw::awLedcSetup(ch, frequency, bits);
ledcSetup(ch, frequency, bits);
ledcWrite(ch, value);
aw::pinsStatus[ch / aw::chd].frequency = frequency;
}
Expand All @@ -138,7 +121,7 @@ float analogWrite(int8_t pin, int32_t value, float frequency) {
}
}
}
return aw::awLedcReadFreq(ch);
return ledcReadFreq(ch);
}
return 0;
}
Expand All @@ -157,7 +140,7 @@ float analogWrite(int8_t pin, int32_t value, float frequency, uint8_t resolution
if (value > ((1 << bits) - 1)) value = (1 << bits); //constrain
if ((bits > 7) && (value == ((1 << bits) - 1))) value = (1 << bits); //keep PWM high
if ((aw::pinsStatus[ch / aw::chd].frequency != frequency) || (aw::pinsStatus[ch / aw::chd].resolution != bits)) {
aw::awLedcSetup(ch, frequency, bits);
ledcSetup(ch, frequency, bits);
ledcWrite(ch, value);
aw::pinsStatus[ch / aw::chd].frequency = frequency;
aw::pinsStatus[ch / aw::chd].resolution = bits;
Expand All @@ -168,7 +151,7 @@ float analogWrite(int8_t pin, int32_t value, float frequency, uint8_t resolution
}
}
}
return aw::awLedcReadFreq(ch);
return ledcReadFreq(ch);
}
return 0;
}
Expand All @@ -187,7 +170,7 @@ float analogWrite(int8_t pin, int32_t value, float frequency, uint8_t resolution
if (value > ((1 << bits) - 1)) value = (1 << bits); //constrain
if ((bits > 7) && (value == ((1 << bits) - 1))) value = (1 << bits); //keep PWM high
if ((aw::pinsStatus[ch / aw::chd].frequency != frequency) || (aw::pinsStatus[ch / aw::chd].resolution != bits)) {
aw::awLedcSetup(ch, frequency, bits);
ledcSetup(ch, frequency, bits);
ledcWrite(ch, value);
aw::pinsStatus[ch / aw::chd].frequency = frequency;
aw::pinsStatus[ch / aw::chd].resolution = bits;
Expand All @@ -213,7 +196,7 @@ float analogWrite(int8_t pin, int32_t value, float frequency, uint8_t resolution
}
}
}
return aw::awLedcReadFreq(ch);
return ledcReadFreq(ch);
}
return 0;
}
Expand All @@ -223,12 +206,12 @@ float analogWriteFrequency(int8_t pin, float frequency) {
if (ch >= 0) {
if ((aw::pinsStatus[ch / aw::chd].pin) > 47) return -1;
if (aw::pinsStatus[ch / aw::chd].frequency != frequency) {
aw::awLedcSetup(ch, frequency, aw::pinsStatus[ch / aw::chd].resolution);
ledcSetup(ch, frequency, aw::pinsStatus[ch / aw::chd].resolution);
ledcWrite(ch, aw::pinsStatus[ch / aw::chd].value);
aw::pinsStatus[ch / aw::chd].frequency = frequency;
}
}
return aw::awLedcReadFreq(ch);
return ledcReadFreq(ch);
}

int32_t analogWriteResolution(int8_t pin, uint8_t resolution) {
Expand All @@ -237,7 +220,7 @@ int32_t analogWriteResolution(int8_t pin, uint8_t resolution) {
if ((aw::pinsStatus[ch / aw::chd].pin) > 47) return -1;
if (aw::pinsStatus[ch / aw::chd].resolution != resolution) {
ledcDetachPin(pin);
aw::awLedcSetup(ch, aw::pinsStatus[ch / aw::chd].frequency, resolution & 0xF);
ledcSetup(ch, aw::pinsStatus[ch / aw::chd].frequency, resolution & 0xF);
ledcAttachPin(pin, ch);
ledcWrite(ch, aw::pinsStatus[ch / aw::chd].value);
aw::pinsStatus[ch / aw::chd].resolution = resolution & 0xF;
Expand All @@ -256,41 +239,41 @@ void setPinsStatusDefaults(int32_t value, float frequency, uint8_t resolution, u
}

void printPinsStatus() {
Serial.print("PWM pins: ");
Serial.print(F("PWM pins: "));
for (int i = 0; i < aw::muxSize; i++) {
if ((aw::pinMask >> i) & 1) {
Serial.print(i); Serial.print(", ");
Serial.print(i); Serial.print(F(", "));
}
}
Serial.println();

Serial.println();
for (int i = 0; i < 8; i++) {
int ch = aw::pinsStatus[i].channel;
Serial.print("ch: ");
if (ch < 10) Serial.print(" "); Serial.print(ch); Serial.print(" ");
Serial.print("Pin: ");
if ((aw::pinsStatus[ch / aw::chd].pin >= 0) && (aw::pinsStatus[ch / aw::chd].pin < 10)) Serial.print(" ");
Serial.print(aw::pinsStatus[ch / aw::chd].pin); Serial.print(" ");
Serial.print("Hz: ");
if (aw::awLedcReadFreq(ch) < 10000) Serial.print(" ");
if (aw::awLedcReadFreq(ch) < 1000) Serial.print(" ");
if (aw::awLedcReadFreq(ch) < 100) Serial.print(" ");
if (aw::awLedcReadFreq(ch) < 10) Serial.print(" ");
Serial.print(aw::awLedcReadFreq(ch)); Serial.print(" ");
Serial.print("Bits: ");
if (aw::pinsStatus[ch / aw::chd].resolution < 10) Serial.print(" ");
Serial.print(aw::pinsStatus[ch / aw::chd].resolution); Serial.print(" ");
Serial.print("Duty: ");
if (aw::pinsStatus[ch / aw::chd].value < 10000) Serial.print(" ");
if (aw::pinsStatus[ch / aw::chd].value < 1000) Serial.print(" ");
if (aw::pinsStatus[ch / aw::chd].value < 100) Serial.print(" ");
if (aw::pinsStatus[ch / aw::chd].value < 10) Serial.print(" ");
Serial.print(aw::pinsStatus[ch / aw::chd].value); Serial.print(" ");
Serial.print("Ø: ");
if (aw::pinsStatus[ch / aw::chd].phase < 1000) Serial.print(" ");
if (aw::pinsStatus[ch / aw::chd].phase < 100) Serial.print(" ");
if (aw::pinsStatus[ch / aw::chd].phase < 10) Serial.print(" ");
Serial.print(F("ch: "));
if (ch < 10) Serial.print(F(" ")); Serial.print(ch); Serial.print(F(" "));
Serial.print(F("Pin: "));
if ((aw::pinsStatus[ch / aw::chd].pin >= 0) && (aw::pinsStatus[ch / aw::chd].pin < 10)) Serial.print(F(" "));
Serial.print(aw::pinsStatus[ch / aw::chd].pin); Serial.print(F(" "));
Serial.print(F("Hz: "));
if (ledcReadFreq(ch) < 10000) Serial.print(F(" "));
if (ledcReadFreq(ch) < 1000) Serial.print(F(" "));
if (ledcReadFreq(ch) < 100) Serial.print(F(" "));
if (ledcReadFreq(ch) < 10) Serial.print(F(" "));
Serial.print(ledcReadFreq(ch)); Serial.print(F(" "));
Serial.print(F("Bits: "));
if (aw::pinsStatus[ch / aw::chd].resolution < 10) Serial.print(F(" "));
Serial.print(aw::pinsStatus[ch / aw::chd].resolution); Serial.print(F(" "));
Serial.print(F("Duty: "));
if (aw::pinsStatus[ch / aw::chd].value < 10000) Serial.print(F(" "));
if (aw::pinsStatus[ch / aw::chd].value < 1000) Serial.print(F(" "));
if (aw::pinsStatus[ch / aw::chd].value < 100) Serial.print(F(" "));
if (aw::pinsStatus[ch / aw::chd].value < 10) Serial.print(F(" "));
Serial.print(aw::pinsStatus[ch / aw::chd].value); Serial.print(F(" "));
Serial.print(F("Ø: "));
if (aw::pinsStatus[ch / aw::chd].phase < 1000) Serial.print(F(" "));
if (aw::pinsStatus[ch / aw::chd].phase < 100) Serial.print(F(" "));
if (aw::pinsStatus[ch / aw::chd].phase < 10) Serial.print(F(" "));
Serial.print(aw::pinsStatus[ch / aw::chd].phase);
Serial.println();
}
Expand Down
2 changes: 0 additions & 2 deletions src/analogWrite.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,9 +35,7 @@ typedef struct pinStatus {
uint32_t phase;
} pinStatus_t;

float awLedcSetup(uint8_t ch, double frequency, uint8_t bits);
void awDetachPin(uint8_t pin, uint8_t ch);
float awLedcReadFreq(uint8_t ch);
int8_t awGetChannel(int8_t pin);

} //namespace aw
Expand Down

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