Merge pull request #493 from uLipe/enhance/replace_mod

ESP32: replaced the mod base circular increment

Author: runger1101001

src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp

@@ -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