diff --git a/QuickPID.cpp b/QuickPID.cpp
index 9467214..16100c0 100644
--- a/QuickPID.cpp
+++ b/QuickPID.cpp
@@ -1,5 +1,5 @@
 /**********************************************************************************
-   QuickPID Library for Arduino - Version 2.2.4
+   QuickPID Library for Arduino - Version 2.2.5
    by dlloydev https://github.com/Dlloydev/QuickPID
    Based on the Arduino PID Library, licensed under the MIT License
  **********************************************************************************/
diff --git a/QuickPID.h b/QuickPID.h
index e5e4673..495814c 100644
--- a/QuickPID.h
+++ b/QuickPID.h
@@ -111,7 +111,7 @@ static const byte TRY_AUTOMATIC = 1;
 
 };
 
-#if defined(ESP32)
+#if (defined(ESP32) || defined(ARDUINO_ARCH_ESP32))
 #include "utility/analogWrite.h"
 #endif
 
diff --git a/library.properties b/library.properties
index 92c0589..56373be 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=QuickPID
-version=2.2.4
+version=2.2.5
 author=David Lloyd
 maintainer=David Lloyd <dlloydev@testcor.ca>
 sentence=A fast fixed/floating point PID controller with AutoTune and 9 tuning rules to choose from.
diff --git a/utility/analogWrite.cpp b/utility/analogWrite.cpp
index 7a323a6..6d4d20a 100644
--- a/utility/analogWrite.cpp
+++ b/utility/analogWrite.cpp
@@ -1,5 +1,5 @@
 /**********************************************************************************
-   AnalogWrite Library for ESP32-ESP32S2 Arduino core - Version 1.1.0
+   AnalogWrite Library for ESP32-ESP32S2 Arduino core - Version 2.0.6
    by dlloydev https://github.com/Dlloydev/ESP32-ESP32S2-AnalogWrite
    This Library is licensed under the MIT License
  **********************************************************************************/
@@ -7,80 +7,56 @@
 #include <Arduino.h>
 #include "analogWrite.h"
 
+namespace aw {
+
 #if (CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3)
 pinStatus_t pinsStatus[8] = {
-  {0, -1, 5000, 13, 0 }, {2, -1, 5000, 13, 0 },
-  {4, -1, 5000, 13, 0 }, {6, -1, 5000, 13, 0 },
-  {1, -1, 5000, 13, 0 }, {3, -1, 5000, 13, 0 },
-  {5, -1, 5000, 13, 0 }, {7, -1, 5000, 13, 0 }
+  {0, -1, 980, 8, 0, 0 }, {2, -1, 980, 8, 0, 0 },
+  {4, -1, 980, 8, 0, 0 }, {6, -1, 980, 8, 0, 0 },
+  {1, -1, 980, 8, 0, 0 }, {3, -1, 980, 8, 0, 0 },
+  {5, -1, 980, 8, 0, 0 }, {7, -1, 980, 8, 0, 0 }
 };
 const uint8_t chd = 1;
 #else //ESP32
 pinStatus_t pinsStatus[8] = {
-  { 0, -1, 5000, 13, 0 }, { 2, -1, 5000, 13, 0 },
-  { 4, -1, 5000, 13, 0 }, { 6, -1, 5000, 13, 0 },
-  { 8, -1, 5000, 13, 0 }, {10, -1, 5000, 13, 0 },
-  {12, -1, 5000, 13, 0 }, {14, -1, 5000, 13, 0 }
+  { 0, -1, 980, 8, 0, 0 }, { 2, -1, 980, 8, 0, 0 },
+  { 4, -1, 980, 8, 0, 0 }, { 6, -1, 980, 8, 0, 0 },
+  { 8, -1, 980, 8, 0, 0 }, {10, -1, 980, 8, 0, 0 },
+  {12, -1, 980, 8, 0, 0 }, {14, -1, 980, 8, 0, 0 }
 };
 const uint8_t chd = 2;
 #endif
 
-void analogWrite(int8_t pin, int32_t value) {
-  if (pin == DAC1 ||  pin == DAC2) { //dac
-    if (value > 255) value = 255;
-    dacWrite(pin, value);
-  } else { //pwm
-    int8_t ch = getChannel(pin);
-    if (ch >= 0) {
-      if (value == -1) { //detach pin
-        pinsStatus[ch / chd].pin = -1;
-        pinsStatus[ch / chd].frequency = 5000;
-        pinsStatus[ch / chd].resolution = 13;
-        ledcDetachPin(pinsStatus[ch / chd].pin);
-        REG_SET_FIELD(GPIO_PIN_MUX_REG[pin], MCU_SEL, GPIO_MODE_DEF_DISABLE);
-      } else { // attached
-        int32_t valueMax = (pow(2, pinsStatus[ch / chd].resolution)) - 1;
-        if (value > valueMax) { // full ON
-          value = valueMax + 1;
-          ledcDetachPin(pin);
-          pinMode(pin, OUTPUT);
-          digitalWrite(pin, HIGH);
-        } else { // write PWM
-          ledcSetup(ch, pinsStatus[ch / chd].frequency, pinsStatus[ch / chd].resolution);
-          ledcWrite(ch, value);
-        }
-        pinsStatus[ch / chd].value = value;
-      }
-    }
-  }
+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
 }
 
-float analogWriteFrequency(int8_t pin, float frequency) {
-  int8_t ch = getChannel(pin);
-  if (ch >= 0) {
-    if ((pinsStatus[ch / chd].pin) > 47) return -1;
-    pinsStatus[ch / chd].pin = pin;
-    pinsStatus[ch / chd].frequency = frequency;
-    //ledcChangeFrequency(ch, frequency, pinsStatus[ch / chd].resolution);
-    ledcSetup(ch, frequency, pinsStatus[ch / chd].resolution);
-    ledcWrite(ch, pinsStatus[ch / chd].value);
-  }
-  return ledcReadFreq(ch);
+void awDetachPin(uint8_t pin, uint8_t ch) {
+  pinsStatus[ch / chd].pin = -1;
+  pinsStatus[ch / chd].value = 0;
+  pinsStatus[ch / chd].frequency = 980;
+  pinsStatus[ch / chd].resolution = 8;
+  pinsStatus[ch / chd].phase = 0;
+  ledcWrite(ch / chd, 0);
+  ledcSetup(ch / chd, 0, 0);
+  ledcDetachPin(pinsStatus[ch / chd].pin);
+  REG_SET_FIELD(GPIO_PIN_MUX_REG[pin], MCU_SEL, GPIO_MODE_DEF_DISABLE);
 }
 
-int32_t analogWriteResolution(int8_t pin, uint8_t resolution) {
-  int8_t ch = getChannel(pin);
-  if (ch >= 0) {
-    if ((pinsStatus[ch / chd].pin) > 47) return -1;
-    pinsStatus[ch / chd].pin = pin;
-    pinsStatus[ch / chd].resolution = resolution;
-    ledcSetup(ch, pinsStatus[ch / chd].frequency, resolution);
-    ledcWrite(ch, pinsStatus[ch / chd].value);
-  }
-  return pow(2, resolution);
+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 getChannel(int8_t pin) {
+int8_t awGetChannel(int8_t pin) {
   if (!((pinMask >> pin) & 1)) return -1; //not pwm pin
   for (int8_t i = 0; i < 8; i++) {
     int8_t ch = pinsStatus[i].channel;
@@ -95,6 +71,7 @@ int8_t getChannel(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);
           ledcAttachPin(pin, ch);
           return ch;
           break;
@@ -112,10 +89,172 @@ int8_t getChannel(int8_t pin) {
   return -1;
 }
 
+} //namespace aw
+
+float analogWrite(int8_t pin, int32_t value) {
+  if (pin == DAC1 ||  pin == DAC2) { //dac
+    if (value > 255) value = 255;
+    dacWrite(pin, value);
+  } else {
+    int8_t ch = aw::awGetChannel(pin);
+    if (ch >= 0) {
+      if (value == -1) aw::awDetachPin(pin, ch);
+      else { // write PWM
+        uint8_t bits = aw::pinsStatus[ch / aw::chd].resolution;
+        if (value > ((1 << bits) - 1)) value = (1 << bits); //constrain
+        if ((bits > 7) && (value == ((1 << bits) - 1))) value = (1 << bits); //keep PWM high
+        if (ledcRead(ch) != value) ledcWrite(ch, value);
+        aw::pinsStatus[ch / aw::chd].value = value;
+      }
+    }
+    return aw::awLedcReadFreq(ch);
+  }
+  return 0;
+}
+
+float analogWrite(int8_t pin, int32_t value, float frequency) {
+  if (pin == DAC1 ||  pin == DAC2) { //dac
+    if (value > 255) value = 255;
+    dacWrite(pin, value);
+  } else {
+    int8_t ch = aw::awGetChannel(pin);
+    if (ch >= 0) {
+      if ((aw::pinsStatus[ch / aw::chd].pin) > 47) return -1;
+      if (value == -1) aw::awDetachPin(pin, ch);
+      else { // write PWM
+        uint8_t bits = aw::pinsStatus[ch / aw::chd].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::awLedcSetup(ch, frequency, bits);
+          ledcWrite(ch, value);
+          aw::pinsStatus[ch / aw::chd].frequency = frequency;
+        }
+        if (aw::pinsStatus[ch / aw::chd].value != value) {
+          ledcWrite(ch, value);
+          aw::pinsStatus[ch / aw::chd].value = value;
+        }
+      }
+    }
+    return aw::awLedcReadFreq(ch);
+  }
+  return 0;
+}
+
+float analogWrite(int8_t pin, int32_t value, float frequency, uint8_t resolution) {
+  if (pin == DAC1 ||  pin == DAC2) { //dac
+    if (value > 255) value = 255;
+    dacWrite(pin, value);
+  } else {
+    int8_t ch = aw::awGetChannel(pin);
+    if (ch >= 0) {
+      if ((aw::pinsStatus[ch / aw::chd].pin) > 47) return -1;
+      if (value == -1) aw::awDetachPin(pin, ch);
+      else { // write PWM
+        uint8_t bits = resolution & 0xF;
+        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);
+          ledcWrite(ch, value);
+          aw::pinsStatus[ch / aw::chd].frequency = frequency;
+          aw::pinsStatus[ch / aw::chd].resolution = bits;
+        }
+        if (aw::pinsStatus[ch / aw::chd].value != value) {
+          ledcWrite(ch, value);
+          aw::pinsStatus[ch / aw::chd].value = value;
+        }
+      }
+    }
+    return aw::awLedcReadFreq(ch);
+  }
+  return 0;
+}
+
+float analogWrite(int8_t pin, int32_t value, float frequency, uint8_t resolution, uint32_t phase) {
+  if (pin == DAC1 ||  pin == DAC2) { //dac
+    if (value > 255) value = 255;
+    dacWrite(pin, value);
+  } else {
+    int8_t ch = aw::awGetChannel(pin);
+    if (ch >= 0) {
+      if ((aw::pinsStatus[ch / aw::chd].pin) > 47) return -1;
+      if (value == -1) aw::awDetachPin(pin, ch);
+      else { // write PWM
+        uint8_t bits = resolution & 0xF;
+        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);
+          ledcWrite(ch, value);
+          aw::pinsStatus[ch / aw::chd].frequency = frequency;
+          aw::pinsStatus[ch / aw::chd].resolution = bits;
+        }
+        if (aw::pinsStatus[ch / aw::chd].phase != phase) {
+          uint32_t group = (ch / 8), timer = ((ch / 2) % 4);
+          aw::ledc_channel_config_t ledc_channel {
+            (uint8_t)pin,
+            (aw::ledc_mode_t)group,
+            (aw::ledc_channel_t)ch,
+            aw::LEDC_INTR_DISABLE,
+            (aw::ledc_timer_t)timer,
+            (uint32_t)value,
+            (int)phase,
+          };
+          ledc_channel_config(&ledc_channel);
+          ledc_set_duty_with_hpoint((aw::ledc_mode_t)group, (aw::ledc_channel_t)ch, value, phase);
+          aw::pinsStatus[ch / aw::chd].phase = phase;
+        }
+        if (aw::pinsStatus[ch / aw::chd].value != value) {
+          ledcWrite(ch, value);
+          aw::pinsStatus[ch / aw::chd].value = value;
+        }
+      }
+    }
+    return aw::awLedcReadFreq(ch);
+  }
+  return 0;
+}
+
+float analogWriteFrequency(int8_t pin, float frequency) {
+  int8_t ch = aw::awGetChannel(pin);
+  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);
+      ledcWrite(ch, aw::pinsStatus[ch / aw::chd].value);
+      aw::pinsStatus[ch / aw::chd].frequency = frequency;
+    }
+  }
+  return aw::awLedcReadFreq(ch);
+}
+
+int32_t analogWriteResolution(int8_t pin, uint8_t resolution) {
+  int8_t ch = aw::awGetChannel(pin);
+  if (ch >= 0) {
+    if ((aw::pinsStatus[ch / aw::chd].pin) > 47) return -1;
+    if (aw::pinsStatus[ch / aw::chd].resolution != resolution) {
+      aw::awLedcSetup(ch, aw::pinsStatus[ch / aw::chd].frequency, resolution & 0xF);
+      ledcWrite(ch, aw::pinsStatus[ch / aw::chd].value);
+      aw::pinsStatus[ch / aw::chd].resolution = resolution & 0xF;
+    }
+  }
+  return 1 << resolution & 0xF;
+}
+
+void setPinsStatusDefaults(int32_t value, float frequency, uint8_t resolution, uint32_t phase) {
+  for (int8_t i = 0; i < 8; i++) {
+    aw::pinsStatus[i].value = value;
+    aw::pinsStatus[i].frequency = frequency;
+    aw::pinsStatus[i].resolution = resolution;
+    aw::pinsStatus[i].phase = phase;
+  }
+}
+
 void printPinsStatus() {
   Serial.print("PWM pins: ");
-  for (int i = 0; i < muxSize; i++) {
-    if ((pinMask >> i) & 1) {
+  for (int i = 0; i < aw::muxSize; i++) {
+    if ((aw::pinMask >> i) & 1) {
       Serial.print(i); Serial.print(", ");
     }
   }
@@ -123,27 +262,32 @@ void printPinsStatus() {
 
   Serial.println();
   for (int i = 0; i < 8; i++) {
-    int ch = pinsStatus[i].channel;
+    int ch = aw::pinsStatus[i].channel;
     Serial.print("ch: ");
     if (ch < 10) Serial.print(" "); Serial.print(ch); Serial.print("  ");
     Serial.print("Pin: ");
-    if ((pinsStatus[ch / chd].pin >= 0) && (pinsStatus[ch / chd].pin < 10)) Serial.print(" ");
-    Serial.print(pinsStatus[ch / chd].pin); Serial.print("  ");
+    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 (ledcReadFreq(ch) < 10000) Serial.print(" ");
-    if (ledcReadFreq(ch) < 1000) Serial.print(" ");
-    if (ledcReadFreq(ch) < 100) Serial.print(" ");
-    if (ledcReadFreq(ch) < 10) Serial.print(" ");
-    Serial.print(ledcReadFreq(ch)); Serial.print("  ");
+    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 (pinsStatus[ch / chd].resolution < 10) Serial.print(" ");
-    Serial.print(pinsStatus[ch / chd].resolution); Serial.print("  ");
+    if (aw::pinsStatus[ch / aw::chd].resolution < 10) Serial.print(" ");
+    Serial.print(aw::pinsStatus[ch / aw::chd].resolution); Serial.print("  ");
     Serial.print("Duty: ");
-    if (pinsStatus[ch / chd].value < 10000) Serial.print(" ");
-    if (pinsStatus[ch / chd].value < 1000) Serial.print(" ");
-    if (pinsStatus[ch / chd].value < 100) Serial.print(" ");
-    if (pinsStatus[ch / chd].value < 10) Serial.print(" ");
-    Serial.print(pinsStatus[ch / chd].value);
+    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(aw::pinsStatus[ch / aw::chd].phase);
     Serial.println();
   }
 }
diff --git a/utility/analogWrite.h b/utility/analogWrite.h
index f3bb8f0..e584060 100644
--- a/utility/analogWrite.h
+++ b/utility/analogWrite.h
@@ -5,13 +5,19 @@
 
 #if (defined(ESP32) || defined(ARDUINO_ARCH_ESP32))
 
+namespace aw {
+
+#include "driver/ledc.h"
+
 #if (CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3)
+
 #define NUM_OUTPUT_PINS  45
 #define DAC1             17
 #define DAC2             18
 const uint8_t muxSize =  48;
 const uint64_t pinMask = 0x27FE00207FFE; //PWM
-#else
+
+#else //ESP32
 #define NUM_OUTPUT_PINS  34
 #define DAC1             25
 #define DAC2             26
@@ -25,12 +31,23 @@ typedef struct pinStatus {
   float frequency;
   uint8_t resolution;
   uint32_t value;
+  uint32_t phase;
 } pinStatus_t;
 
-float analogWriteFrequency(int8_t pin, float frequency = 5000);
-int32_t analogWriteResolution(int8_t pin, uint8_t resolution = 13);
-void analogWrite(int8_t pin, int32_t value = 0);
-int8_t getChannel(int8_t pin);
+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
+
+float analogWriteFrequency(int8_t pin, float frequency = 980);
+int32_t analogWriteResolution(int8_t pin, uint8_t resolution = 8);
+float analogWrite(int8_t pin, int32_t value, float frequency, uint8_t resolution, uint32_t phase);
+float analogWrite(int8_t pin, int32_t value, float frequency, uint8_t resolution);
+float analogWrite(int8_t pin, int32_t value, float frequency);
+float analogWrite(int8_t pin, int32_t value);
+void setPinsStatusDefaults(int32_t value = 0, float frequency = 980, uint8_t resolution = 8, uint32_t phase = 0);
 void printPinsStatus(void);
 
 #endif //ESP32 or ARDUINO_ARCH_ESP32