IDF 5.x

kaiaai · Dec 4, 2024 · b00c3df · b00c3df
1 parent ebf0b1c
commit b00c3df
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Showing 5 changed files with 33 additions and 13 deletions.
diff --git a/README.md b/README.md
@@ -103,6 +103,7 @@ LidarSerial.begin(baud_rate, SERIAL_8N1, 4, 5); // GPIO4 as RX1, GPIO5 as TX1
 ## Release notes
 
 ## v0.5.9
+- support for Espressif SDK 5.x (ESP32 Arduino 3.x)
 - added ESP32-C3 LD14P example
 - added ESP32-S3 LD14P example
 

diff --git a/examples/lds_basic_esp32/lds_basic_esp32.ino b/examples/lds_basic_esp32/lds_basic_esp32.ino
@@ -124,18 +124,18 @@ void lidar_motor_pin_callback(float value, LDS::lds_pin_t lidar_pin) {
   int pin = (lidar_pin == LDS::LDS_MOTOR_EN_PIN) ?
     LDS_MOTOR_EN_PIN : LDS_MOTOR_PWM_PIN;
 
-  if (value <= LDS::DIR_INPUT) {
+  if (value <= (float)LDS::DIR_INPUT) {
     // Configure pin direction
-    if (value == LDS::DIR_OUTPUT_PWM) {
+    if (value == (float)LDS::DIR_OUTPUT_PWM) {
       ledcSetup(LDS_MOTOR_PWM_CHANNEL, LDS_MOTOR_PWM_FREQ, LDS_MOTOR_PWM_BITS);
       ledcAttachPin(pin, LDS_MOTOR_PWM_CHANNEL);
     } else
-      pinMode(pin, (value == LDS::DIR_INPUT) ? INPUT : OUTPUT);
+      pinMode(pin, (value == (float)LDS::DIR_INPUT) ? INPUT : OUTPUT);
     return;
   }
 
   if (value < LDS::VALUE_PWM) // set constant output
-    digitalWrite(pin, (value == LDS::VALUE_HIGH) ? HIGH : LOW);
+    digitalWrite(pin, (value == (float)LDS::VALUE_HIGH) ? HIGH : LOW);
   else { // set PWM duty cycle
     int pwm_value = ((1<<LDS_MOTOR_PWM_BITS)-1)*value;
     ledcWrite(LDS_MOTOR_PWM_CHANNEL, pwm_value);

diff --git a/examples/ydlidar_x2_esp32/ydlidar_x2_esp32.ino b/examples/ydlidar_x2_esp32/ydlidar_x2_esp32.ino
@@ -110,18 +110,22 @@ void lidar_motor_pin_callback(float value, LDS::lds_pin_t lidar_pin) {
   int pin = (lidar_pin == LDS::LDS_MOTOR_EN_PIN) ?
     LDS_MOTOR_EN_PIN : LDS_MOTOR_PWM_PIN;
 
-  if (value <= LDS::DIR_INPUT) {
+  if (value <= (float)LDS::DIR_INPUT) {
     // Configure pin direction
-    if (value == LDS::DIR_OUTPUT_PWM) {
+    if (value == (float)LDS::DIR_OUTPUT_PWM) {
+      #if ESP_IDF_VERSION_MAJOR >= 5
+      ledcAttachChannel(pin, LDS_MOTOR_PWM_FREQ, LDS_MOTOR_PWM_BITS, LDS_MOTOR_PWM_CHANNEL);
+      #else
       ledcSetup(LDS_MOTOR_PWM_CHANNEL, LDS_MOTOR_PWM_FREQ, LDS_MOTOR_PWM_BITS);
       ledcAttachPin(pin, LDS_MOTOR_PWM_CHANNEL);
+      #endif
     } else
-      pinMode(pin, (value == LDS::DIR_INPUT) ? INPUT : OUTPUT);
+      pinMode(pin, (value == (float)LDS::DIR_INPUT) ? INPUT : OUTPUT);
     return;
   }
 
   if (value < LDS::VALUE_PWM) // set constant output
-    digitalWrite(pin, (value == LDS::VALUE_HIGH) ? HIGH : LOW);
+    digitalWrite(pin, (value == (float)LDS::VALUE_HIGH) ? HIGH : LOW);
   else { // set PWM duty cycle
     int pwm_value = ((1<<LDS_MOTOR_PWM_BITS)-1)*value;
     ledcWrite(LDS_MOTOR_PWM_CHANNEL, pwm_value);

diff --git a/examples/ydlidar_x4_esp32/ydlidar_x4_esp32.ino b/examples/ydlidar_x4_esp32/ydlidar_x4_esp32.ino
@@ -108,18 +108,22 @@ void lidar_motor_pin_callback(float value, LDS::lds_pin_t lidar_pin) {
   int pin = (lidar_pin == LDS::LDS_MOTOR_EN_PIN) ?
     LDS_MOTOR_EN_PIN : LDS_MOTOR_PWM_PIN;
 
-  if (value <= LDS::DIR_INPUT) {
+  if (value <= (float)LDS::DIR_INPUT) {
     // Configure pin direction
-    if (value == LDS::DIR_OUTPUT_PWM) {
+    if (value == (float)LDS::DIR_OUTPUT_PWM) {
+      #if ESP_IDF_VERSION_MAJOR >= 5
+      ledcAttachChannel(pin, LDS_MOTOR_PWM_FREQ, LDS_MOTOR_PWM_BITS, LDS_MOTOR_PWM_CHANNEL);
+      #else
       ledcSetup(LDS_MOTOR_PWM_CHANNEL, LDS_MOTOR_PWM_FREQ, LDS_MOTOR_PWM_BITS);
       ledcAttachPin(pin, LDS_MOTOR_PWM_CHANNEL);
+      #endif
     } else
-      pinMode(pin, (value == LDS::DIR_INPUT) ? INPUT : OUTPUT);
+      pinMode(pin, (value == (float)LDS::DIR_INPUT) ? INPUT : OUTPUT);
     return;
   }
 
-  if (value < LDS::VALUE_PWM) // set constant output
-    digitalWrite(pin, (value == LDS::VALUE_HIGH) ? HIGH : LOW);
+  if (value < (float)LDS::VALUE_PWM) // set constant output
+    digitalWrite(pin, (value == (float)LDS::VALUE_HIGH) ? HIGH : LOW);
   else { // set PWM duty cycle
     int pwm_value = ((1<<LDS_MOTOR_PWM_BITS)-1)*value;
     ledcWrite(LDS_MOTOR_PWM_CHANNEL, pwm_value);

diff --git a/keywords.txt b/keywords.txt
@@ -8,6 +8,7 @@
 
 LDS	KEYWORD1
 LDS_YDLIDAR_X4	KEYWORD1
+LDS_YDLIDAR_X4_PRO	KEYWORD1
 LDS_YDLIDAR_X3	KEYWORD1
 LDS_YDLIDAR_X3_PRO	KEYWORD1
 LDS_YDLIDAR_X2_X2L	KEYWORD1
@@ -40,6 +41,16 @@ setInfoCallback	KEYWORD2
 setErrorCallback	KEYWORD2
 init	KEYWORD2
 getModelName	KEYWORD2
+setScanTargetFreqHz KEYWORD2
+getTargetScanFreqHz KEYWORD2
+getCurrentScanFreqHz KEYWORD2
+getSamplingRateHz KEYWORD2
+setScanPIDCoeffs KEYWORD2
+setScanPIDSamplePeriodMs KEYWORD2
+resultCodeToString KEYWORD2
+infoCodeToString KEYWORD2
+pinIDToString KEYWORD2
+pinStateToString KEYWORD2
 
 #######################################
 # Constants (LITERAL1)