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ESP32: replaced the mod base circular increment #493

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Merged
runger1101001 merged 2 commits into from
Oct 20, 2025
Merged

ESP32: replaced the mod base circular increment #493

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f5331e0
ESP32: replaced the mod base circular increment
uLipe Oct 15, 2025
9c616ba
ESP32: reorder the ADC buffer increment
uLipe Oct 16, 2025
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8 changes: 6 additions & 2 deletions src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,11 +105,15 @@ static bool IRAM_ATTR _mcpwmTriggerADCCallback(mcpwm_timer_handle_t tim, const m

// sample the phase currents one at a time
// ESP's adc read takes around 10us which is very long
// increment buffer index
p->buffer_index = (p->buffer_index + 1) % p->no_adc_channels;
// so we are sampling one phase per call
p->adc_buffer[p->buffer_index] = adcRead(p->pins[p->buffer_index]);

// increment buffer index
p->buffer_index++;
if(p->buffer_index >= p->no_adc_channels){
p->buffer_index = 0;
}

#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG // debugging toggle pin to measure the time of the interrupt with oscilloscope
gpio_set_level(GPIO_NUM,0); //cca 250ns for on+off
#endif
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