Discrete component audio out
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WAV library: https://www.xtronical.com/basics/audio/digitised-speech-sound-esp32-playing-wavs/
A github project that probably plays a wav file: https://github.com/LilyGO/TTGO-T8-ESP32
A micropython project playing WAV (though I'm quite sure I read somewhere that the internal DAC wasn't yet supported on micropyton): https://m5stack.hackster.io/lukasmaximus89/play-wav-files-on-your-m5stack-3bee7e
internal *ADC* code: https://github.com/espressif/esp-idf/commit/2fceec4d858c62a489496678c765ae1a2d68645c
Well, I started typing, and then lost everything.
There are some projects on hackaday that have simple audio output (and even video), but none of them connects to a speaker directly.
This is how I connected my SD card:
https://github.com/espressif/arduino-esp32/tree/master/libraries/SD
There's this project that does PDM: https://github.com/karawin/Ka-Radio32. It tells to connect a speaker to GPIO 25 for PDM/internal DAC, but I think that would way exceed the 12 mA of max output current.
I found a 40xx/74xx logic buffer circuit for PDM sound somewhere (lost the link...), and a mention that a MOSFET would be a good idea. Somewhere else I found adding a 100 uF / 47 uF capacitor between output and speaker should do the trick.
There's this video:https://www.youtube.com/watch?v=oCmfpJNDPn8 that shows an ESP32 with audio out over PDM
This shows something about how to use PDM: https://github.com/earlephilhower/ESP8266Audio/issues/138 (and also notes that for a long time, PDM hasn't worked)
This project also mentions PDM: https://github.com/MrBuddyCasino/ESP32_MP3_Decoder. The source seems based on Ka-Radio32 - or probably the other way around.
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I'm using this library on an ongoing project : https://github.com/earlephilhower/ESP8266Audio
The library is easy to use and quite versatile, although there are some "bugs".
If using an esp32 is not mandatory, then there is Teensy from JPRC, and their powerfull audio lib.