diff --git a/cores/esp32/esp32-hal-ledc.c b/cores/esp32/esp32-hal-ledc.c
index 76d522c2313..f030821e109 100644
--- a/cores/esp32/esp32-hal-ledc.c
+++ b/cores/esp32/esp32-hal-ledc.c
@@ -19,6 +19,8 @@
 #include "esp32-hal-ledc.h"
 #include "driver/ledc.h"
 #include "esp32-hal-periman.h"
+#include "soc/gpio_sig_map.h"
+#include "esp_rom_gpio.h"
 
 #ifdef SOC_LEDC_SUPPORT_HS_MODE
 #define LEDC_CHANNELS           (SOC_LEDC_CHANNEL_NUM<<1)
@@ -40,7 +42,7 @@ typedef struct {
     int used_channels : LEDC_CHANNELS;              // Used channels as a bits
 } ledc_periph_t;
 
-ledc_periph_t ledc_handle;
+ledc_periph_t ledc_handle = {0};
 
 static bool fade_initialized = false;
 
@@ -58,15 +60,25 @@ static bool ledcDetachBus(void * bus){
 
 bool ledcAttachChannel(uint8_t pin, uint32_t freq, uint8_t resolution, uint8_t channel)
 {
-    if (channel >= LEDC_CHANNELS || resolution > LEDC_MAX_BIT_WIDTH)
-    {
-        log_e("Channel %u is not available! (maximum %u) or bit width too big (maximum %u)", channel, LEDC_CHANNELS, LEDC_MAX_BIT_WIDTH);
+    if(channel >= LEDC_CHANNELS || ledc_handle.used_channels & (1UL << channel)){
+        log_e("Channel %u is not available (maximum %u) or already used!", channel, LEDC_CHANNELS);
+        return false;
+    }
+    
+    if (resolution > LEDC_MAX_BIT_WIDTH){
+        log_e("LEDC resolution too big (maximum %u)", LEDC_MAX_BIT_WIDTH);
         return false;
     }
 
     perimanSetBusDeinit(ESP32_BUS_TYPE_LEDC, ledcDetachBus);
     ledc_channel_handle_t *bus = (ledc_channel_handle_t*)perimanGetPinBus(pin, ESP32_BUS_TYPE_LEDC);
-    if(bus != NULL && !perimanClearPinBus(pin)){
+    if(bus != NULL){
+        log_e("Pin %u is already attached to LEDC (channel %u, resolution %u)", pin, bus->channel, bus->channel_resolution);
+        return false;
+    }
+
+    if(!perimanClearPinBus(pin)){
+        log_e("Pin %u is already attached to another bus and failed to detach", pin);
         return false;
     }
 
@@ -120,11 +132,11 @@ bool ledcAttachChannel(uint8_t pin, uint32_t freq, uint8_t resolution, uint8_t c
 bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution)
 {
     uint8_t free_channel = ~ledc_handle.used_channels & (ledc_handle.used_channels+1);
-    if (free_channel == 0 || resolution > LEDC_MAX_BIT_WIDTH){
-        log_e("No more LEDC channels available! (maximum %u) or bit width too big (maximum %u)", LEDC_CHANNELS, LEDC_MAX_BIT_WIDTH);
+    if (free_channel == 0){
+        log_e("No more LEDC channels available! (maximum is %u channels)", LEDC_CHANNELS);
         return false;
     }
-    int channel = log2(free_channel & -free_channel);
+    uint8_t channel = log2(free_channel & -free_channel);
 
     return ledcAttachChannel(pin, freq, resolution, channel);
 }
@@ -265,6 +277,21 @@ uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution)
     return 0;
 }
 
+bool ledcOutputInvert(uint8_t pin, bool out_invert)
+{
+    ledc_channel_handle_t *bus = (ledc_channel_handle_t*)perimanGetPinBus(pin, ESP32_BUS_TYPE_LEDC);
+    if(bus != NULL){
+        gpio_set_level(pin, out_invert);
+    #ifdef SOC_LEDC_SUPPORT_HS_MODE
+        esp_rom_gpio_connect_out_signal(pin, ((bus->channel/8 == 0) ? LEDC_HS_SIG_OUT0_IDX : LEDC_LS_SIG_OUT0_IDX) + ((bus->channel)%8), out_invert, 0);
+    #else
+        esp_rom_gpio_connect_out_signal(pin, LEDC_LS_SIG_OUT0_IDX + ((bus->channel)%8), out_invert, 0);
+    #endif
+        return true;
+    }
+    return false;
+}
+
 static IRAM_ATTR bool ledcFnWrapper(const ledc_cb_param_t *param, void *user_arg)
 {
     if (param->event == LEDC_FADE_END_EVT) {
@@ -373,7 +400,7 @@ void analogWrite(uint8_t pin, int value) {
   if (pin < SOC_GPIO_PIN_COUNT) {
     ledc_channel_handle_t *bus = (ledc_channel_handle_t*)perimanGetPinBus(pin, ESP32_BUS_TYPE_LEDC);
     if(bus == NULL && perimanClearPinBus(pin)){
-        if(ledcAttach(pin, analog_frequency, analog_resolution) == 0){
+        if(ledcAttach(pin, analog_frequency, analog_resolution, LEDC_CHANNEL_AUTO) == 0){
             log_e("analogWrite setup failed (freq = %u, resolution = %u). Try setting different resolution or frequency");
             return;
         }
diff --git a/cores/esp32/esp32-hal-ledc.h b/cores/esp32/esp32-hal-ledc.h
index 2d2c42e9369..08cfea9f30e 100644
--- a/cores/esp32/esp32-hal-ledc.h
+++ b/cores/esp32/esp32-hal-ledc.h
@@ -45,9 +45,8 @@ typedef struct {
 #endif
 } ledc_channel_handle_t;
 
-//channel 0-15 resolution 1-16bits freq limits depend on resolution
 bool        ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution);
-bool        ledcAttachChannel(uint8_t pin, uint32_t freq, uint8_t resolution, uint8_t channel);
+bool        ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution, uint8_t channel);
 bool        ledcWrite(uint8_t pin, uint32_t duty);
 uint32_t    ledcWriteTone(uint8_t pin, uint32_t freq);
 uint32_t    ledcWriteNote(uint8_t pin, note_t note, uint8_t octave);
@@ -55,6 +54,7 @@ uint32_t    ledcRead(uint8_t pin);
 uint32_t    ledcReadFreq(uint8_t pin);
 bool        ledcDetach(uint8_t pin);
 uint32_t    ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution);
+bool        ledcOutputInvert(uint8_t pin, bool out_invert);
 
 //Fade functions
 bool ledcFade(uint8_t pin, uint32_t start_duty, uint32_t target_duty, int max_fade_time_ms);
diff --git a/cores/esp32/io_pin_remap.h b/cores/esp32/io_pin_remap.h
index 63fb16cefd0..049da110740 100644
--- a/cores/esp32/io_pin_remap.h
+++ b/cores/esp32/io_pin_remap.h
@@ -53,14 +53,16 @@ int8_t gpioNumberToDigitalPin(int8_t gpioNumber);
 #define i2cSlaveInit(num, sda, scl, slaveID, frequency, rx_len, tx_len)     i2cSlaveInit(num, digitalPinToGPIONumber(sda), digitalPinToGPIONumber(scl), slaveID, frequency, rx_len, tx_len)
 
 // cores/esp32/esp32-hal-ledc.h
-#define ledcAttach(pin, freq, resolution)           ledcAttach(digitalPinToGPIONumber(pin), freq, resolution)
-#define ledcWrite(pin, duty)                        ledcWrite(digitalPinToGPIONumber(pin), duty)
-#define ledcWriteTone(pin, freq)                    ledcWriteTone(digitalPinToGPIONumber(pin), freq)
-#define ledcWriteNote(pin, note, octave)            ledcWriteNote(digitalPinToGPIONumber(pin), note, octave)
-#define ledcRead(pin)                               ledcRead(digitalPinToGPIONumber(pin))
-#define ledcReadFreq(pin)                           ledcReadFreq(digitalPinToGPIONumber(pin))
-#define ledcDetach(pin)                             ledcDetach(digitalPinToGPIONumber(pin))
-#define ledcChangeFrequency(pin, freq, resolution)  ledcChangeFrequency(digitalPinToGPIONumber(pin), freq, resolution)
+#define ledcAttach(pin, freq, resolution)                       ledcAttach(digitalPinToGPIONumber(pin), freq, resolution)
+#define ledcAttachChannel(pin, freq, resolution, channel)       ledcAttachChannel(digitalPinToGPIONumber(pin), freq, resolution, channel)
+#define ledcWrite(pin, duty)                                    ledcWrite(digitalPinToGPIONumber(pin), duty)
+#define ledcWriteTone(pin, freq)                                ledcWriteTone(digitalPinToGPIONumber(pin), freq)
+#define ledcWriteNote(pin, note, octave)                        ledcWriteNote(digitalPinToGPIONumber(pin), note, octave)
+#define ledcRead(pin)                                           ledcRead(digitalPinToGPIONumber(pin))
+#define ledcReadFreq(pin)                                       ledcReadFreq(digitalPinToGPIONumber(pin))
+#define ledcDetach(pin)                                         ledcDetach(digitalPinToGPIONumber(pin))
+#define ledcChangeFrequency(pin, freq, resolution)              ledcChangeFrequency(digitalPinToGPIONumber(pin), freq, resolution)
+#define ledcOutputInvert(pin, out_invert)                       ledcOutputInvert(digitalPinToGPIONumber(pin), out_invert)
 
 #define ledcFade(pin, start_duty, target_duty, max_fade_time_ms)                                ledcFade(digitalPinToGPIONumber(pin), start_duty, target_duty, max_fade_time_ms)
 #define ledcFadeWithInterrupt(pin, start_duty, target_duty, max_fade_time_ms, userFunc)         ledcFadeWithInterrupt(digitalPinToGPIONumber(pin), start_duty, target_duty, max_fade_time_ms, userFunc)
diff --git a/docs/en/api/ledc.rst b/docs/en/api/ledc.rst
index 1abeea2f6ee..08912d880dd 100644
--- a/docs/en/api/ledc.rst
+++ b/docs/en/api/ledc.rst
@@ -26,19 +26,17 @@ Arduino-ESP32 LEDC API
 ledcAttach
 **********
 
-This function is used to setup LEDC pin with given frequency and resolution.
-LEDC channel will be selected automatically.
+This function is used to setup LEDC pin with given frequency and resolution. LEDC channel will be selected automatically.
 
 .. code-block:: arduino
 
-    bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution);
+    bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution, int8_t channel);
 
 * ``pin`` select LEDC pin.
 * ``freq`` select frequency of pwm.
 * ``resolution`` select resolution for LEDC channel. 
- 
   * range is 1-14 bits (1-20 bits for ESP32).
-  
+
 This function will return ``true`` if configuration is successful.
 If ``false`` is returned, error occurs and LEDC channel was not configured.
 
@@ -49,15 +47,14 @@ This function is used to setup LEDC pin with given frequency, resolution and cha
 
 .. code-block:: arduino
 
-    bool ledcAttachChannel(uint8_t pin, uint32_t freq, uint8_t resolution, uint8_t channel);
+    bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution, int8_t channel);
 
 * ``pin`` select LEDC pin.
 * ``freq`` select frequency of pwm.
 * ``resolution`` select resolution for LEDC channel. 
-* ``channel`` select LEDC channel.
- 
   * range is 1-14 bits (1-20 bits for ESP32).
-  
+* ``channel`` select LEDC channel.
+
 This function will return ``true`` if configuration is successful.
 If ``false`` is returned, error occurs and LEDC channel was not configured.
 
@@ -171,6 +168,21 @@ This function is used to set frequency for the LEDC pin.
 This function will return ``frequency`` configured for the LEDC channel.
 If ``0`` is returned, error occurs and the LEDC channel frequency was not set.
 
+ledcOutputInvert
+****************
+
+This function is used to set inverting output for the LEDC pin.
+
+.. code-block:: arduino
+
+    bool ledcOutputInvert(uint8_t pin, bool out_invert);
+
+* ``pin`` select LEDC pin.
+* ``out_invert`` select, if output should be inverted (1 = inverting output).
+  
+This function returns ``true`` if setting inverting output was successful.
+If ``false`` is returned, an error occurred and the inverting output was not set.
+
 ledcFade
 ********
 
diff --git a/libraries/ESP32/examples/AnalogOut/LEDCFade/LEDCFade.ino b/libraries/ESP32/examples/AnalogOut/LEDCFade/LEDCFade.ino
index 002df746014..19c2be3428d 100644
--- a/libraries/ESP32/examples/AnalogOut/LEDCFade/LEDCFade.ino
+++ b/libraries/ESP32/examples/AnalogOut/LEDCFade/LEDCFade.ino
@@ -33,7 +33,7 @@ void setup() {
   Serial.begin(115200);
   while(!Serial) delay(10);
 
-  // Setup timer and attach timer to a led pins
+  // Setup timer with given frequency, resolution and attach it to a led pin with auto-selected channel
   ledcAttach(LED_PIN, LEDC_BASE_FREQ, LEDC_TIMER_12_BIT);
 
   // Setup and start fade on led (duty from 0 to 4095)
diff --git a/libraries/ESP32/examples/AnalogOut/ledcWrite_RGB/ledcWrite_RGB.ino b/libraries/ESP32/examples/AnalogOut/ledcWrite_RGB/ledcWrite_RGB.ino
index 1104a6b4c63..0135ab1d0c1 100644
--- a/libraries/ESP32/examples/AnalogOut/ledcWrite_RGB/ledcWrite_RGB.ino
+++ b/libraries/ESP32/examples/AnalogOut/ledcWrite_RGB/ledcWrite_RGB.ino
@@ -26,7 +26,7 @@ void setup()
   delay(10); 
   
   // Initialize pins as LEDC channels 
-  // resolution 1-16 bits, freq limits depend on resolution
+  // resolution 1-16 bits, freq limits depend on resolution, channel is automatically selected
   ledcAttach(ledR, 12000, 8); // 12 kHz PWM, 8-bit resolution
   ledcAttach(ledG, 12000, 8);
   ledcAttach(ledB, 12000, 8);