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ESP32: move adc runtime reading functions to IRAM. #491

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Merged
merged 1 commit into from
Oct 14, 2025
Merged

ESP32: move adc runtime reading functions to IRAM. #491

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28 changes: 14 additions & 14 deletions src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
#include "esp32_mcu.h"
#include "esp32_adc_driver.h"

#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
#define SIMPLEFOC_ADC_ATTEN ADC_11db
#define SIMPLEFOC_ADC_RES 12

Expand All @@ -12,12 +12,12 @@
#include "soc/sens_reg.h"

// configure the ADCs in RTC mode
// saves about 3us per call
// saves about 3us per call
// going from 12us to 9us
//
//
// TODO: See if we need to configure both ADCs or we can just configure the one we'll use
// For the moment we will configure both
void __configFastADCs(){
void IRAM_ATTR __configFastADCs(){

SIMPLEFOC_ESP32_CS_DEBUG("Configuring fast ADCs");

Expand Down Expand Up @@ -46,9 +46,9 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin)
int8_t channel = digitalPinToAnalogChannel(pin);
if(channel < 0){
SIMPLEFOC_ESP32_CS_DEBUG("ERROR: Not ADC pin: "+String(pin));
return false; //not adc pin
return false; //not adc pin
}

// channels <= MAX_CHANNEL_NUM belong to ADC1
// channels > MAX_CHANNEL_NUM belong to ADC2 (where the channel number is number-SOC_ADC_MAX_CHANNEL_NUM)
uint8_t adc_num = (channel >= SOC_ADC_MAX_CHANNEL_NUM) ? 2 : 1;
Expand All @@ -65,7 +65,7 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin)
SET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_START_SAR_M);

// wait for conversion
while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_DONE_SAR) == 0);
while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_DONE_SAR) == 0);
// read the value
value = GET_PERI_REG_BITS2(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_DATA_SAR, SENS_MEAS1_DATA_SAR_S);
break;
Expand All @@ -76,7 +76,7 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin)
SET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M);

// wait for conversion
while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_DONE_SAR) == 0);
while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_DONE_SAR) == 0);
// read the value
value = GET_PERI_REG_BITS2(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_DATA_SAR, SENS_MEAS2_DATA_SAR_S);
break;
Expand All @@ -91,10 +91,10 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin)
#include "soc/sens_reg.h"


// configure the ADCs in RTC mode
// configure the ADCs in RTC mode
// no real gain - see if we do something with it later
// void __configFastADCs(){

// SET_PERI_REG_MASK(SENS_SAR_READER1_CTRL_REG, SENS_SAR1_DATA_INV);
// SET_PERI_REG_MASK(SENS_SAR_READER2_CTRL_REG, SENS_SAR2_DATA_INV);

Expand Down Expand Up @@ -137,7 +137,7 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin)
SET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_SAR_M);

// wait for conversion
while (GET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DONE_SAR) == 0);
while (GET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DONE_SAR) == 0);
// read the value
value = GET_PERI_REG_BITS2(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DATA_SAR, SENS_MEAS1_DATA_SAR_S);
break;
Expand All @@ -148,7 +148,7 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin)
SET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_SAR_M);

// wait for conversion
while (GET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DONE_SAR) == 0);
while (GET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DONE_SAR) == 0);
// read the value
value = GET_PERI_REG_BITS2(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DATA_SAR, SENS_MEAS2_DATA_SAR_S);
break;
Expand All @@ -171,7 +171,7 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin){
// configure the ADC for the pin
bool IRAM_ATTR adcInit(uint8_t pin){
static bool initialized = false;

int8_t channel = digitalPinToAnalogChannel(pin);
if(channel < 0){
SIMPLEFOC_ESP32_CS_DEBUG("ERROR: Not ADC pin: "+String(pin));
Expand All @@ -186,7 +186,7 @@ bool IRAM_ATTR adcInit(uint8_t pin){
if(! initialized){
analogSetAttenuation(SIMPLEFOC_ADC_ATTEN);
analogReadResolution(SIMPLEFOC_ADC_RES);
}
}
pinMode(pin, ANALOG);
analogRead(pin);
analogSetPinAttenuation(pin, SIMPLEFOC_ADC_ATTEN);
Expand Down
6 changes: 3 additions & 3 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 @@ -43,7 +43,7 @@


// function reading an ADC value and returning the read voltage
float _readADCVoltageLowSide(const int pin, const void* cs_params){
float IRAM_ATTR _readADCVoltageLowSide(const int pin, const void* cs_params){
ESP32CurrentSenseParams* p = (ESP32CurrentSenseParams*)cs_params;
int no_channel = 0;
for(int i=0; i < 3; i++){
Expand All @@ -59,7 +59,7 @@ float _readADCVoltageLowSide(const int pin, const void* cs_params){


// function configuring low-side current sensing
void* _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC){
void* IRAM_ATTR _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC){
// check if driver timer is already running
// fail if it is
// the easiest way that I've found to check if timer is running
Expand Down Expand Up @@ -116,7 +116,7 @@ static bool IRAM_ATTR _mcpwmTriggerADCCallback(mcpwm_timer_handle_t tim, const m
return true;
}

void* _driverSyncLowSide(void* driver_params, void* cs_params){
void* IRAM_ATTR _driverSyncLowSide(void* driver_params, void* cs_params){
#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG
pinMode(DEBUGPIN, OUTPUT);
#endif
Expand Down
6 changes: 3 additions & 3 deletions src/current_sense/hardware_specific/esp32/esp32_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,16 +3,16 @@
#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)

/**
* Inline adc reading implementation
* Inline adc reading implementation
*/
// function reading an ADC value and returning the read voltage
float _readADCVoltageInline(const int pinA, const void* cs_params){
float IRAM_ATTR _readADCVoltageInline(const int pinA, const void* cs_params){
uint32_t raw_adc = adcRead(pinA);
return raw_adc * ((ESP32CurrentSenseParams*)cs_params)->adc_voltage_conv;
}

// function reading an ADC value and returning the read voltage
void* _configureADCInline(const void* driver_params, const int pinA, const int pinB, const int pinC){
void* IRAM_ATTR _configureADCInline(const void* driver_params, const int pinA, const int pinB, const int pinC){

ESP32CurrentSenseParams* params = new ESP32CurrentSenseParams {
.pins = { pinA, pinB, pinC },
Expand Down