Merge branch 'dev' of github.com:runger1101001/Arduino-FOC into dev

Author: Richard Unger

src/common/base_classes/CurrentSense.cpp

@@ -16,12 +16,12 @@ float CurrentSense::getDCCurrent(float motor_electrical_angle){
         // if only two measured currents
         i_alpha = current.a;  
         i_beta = _1_SQRT3 * current.a + _2_SQRT3 * current.b;
-    }if(!current.a){
+    }else if(!current.a){
         // if only two measured currents
         float a = -current.c - current.b;
         i_alpha = a;  
         i_beta = _1_SQRT3 * a + _2_SQRT3 * current.b;
-    }if(!current.b){
+    }else if(!current.b){
         // if only two measured currents
         float b = -current.a - current.c;
         i_alpha = current.a;  
@@ -62,12 +62,12 @@ DQCurrent_s CurrentSense::getFOCCurrents(float angle_el){
         // if only two measured currents
         i_alpha = current.a;  
         i_beta = _1_SQRT3 * current.a + _2_SQRT3 * current.b;
-    }if(!current.a){
+    }else if(!current.a){
         // if only two measured currents
         float a = -current.c - current.b;
         i_alpha = a;  
         i_beta = _1_SQRT3 * a + _2_SQRT3 * current.b;
-    }if(!current.b){
+    }else if(!current.b){
         // if only two measured currents
         float b = -current.a - current.c;
         i_alpha = current.a;  

src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp

@@ -154,9 +154,8 @@ bool IRAM_ATTR __adcStart(uint8_t pin){
     }
 
     if(channel > 9){
-        channel -= 10;
         CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M);
-        SET_PERI_REG_BITS(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD, (1 << channel), SENS_SAR2_EN_PAD_S);
+        SET_PERI_REG_BITS(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD, (1 << (channel - 10)), SENS_SAR2_EN_PAD_S);
         SET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M);
     } else {
         CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_START_SAR_M);
@@ -225,9 +224,8 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin)
     __analogInit();
 
     if(channel > 9){
-        channel -= 10;
         CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M);
-        SET_PERI_REG_BITS(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD, (1 << channel), SENS_SAR2_EN_PAD_S);
+        SET_PERI_REG_BITS(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD, (1 << (channel - 10)), SENS_SAR2_EN_PAD_S);
         SET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M);
     } else {
         CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_START_SAR_M);
@@ -257,4 +255,4 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin)
 }
 
 
-#endif
+#endif