Move the mcpwm on_full callback entry point to the IRAM.

It will ensure that all the ADC processing triggered by the MCPWM
ISR can run if the ESP32 cache is disabled, preventing the application
to crash.

Signed-off-by: Felipe Neves <[email protected]>

Author: uLipe

src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp

@@ -38,7 +38,7 @@
 
 
 /**
- *  Low side adc reading implementation 
+ *  Low side adc reading implementation
 */
 
 
@@ -58,12 +58,12 @@ float _readADCVoltageLowSide(const int pin, const void* cs_params){
 }
 
 
-// function configuring low-side current sensing 
+// function configuring low-side current sensing
 void* _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC){
-  // check if driver timer is already running 
+  // check if driver timer is already running
   // fail if it is
   // the easiest way that I've found to check if timer is running
-  // is to start it and stop it 
+  // is to start it and stop it
   ESP32MCPWMDriverParams *p = (ESP32MCPWMDriverParams*)driver_params;
   mcpwm_timer_t* t = (mcpwm_timer_t*) p->timers[0];
 
@@ -74,7 +74,7 @@ void* _configureADCLowSide(const void* driver_params, const int pinA,const int p
     return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
   }
 
-  
+
   ESP32CurrentSenseParams* params = new ESP32CurrentSenseParams{};
   int no_adc_channels = 0;
 
@@ -90,14 +90,31 @@ void* _configureADCLowSide(const void* driver_params, const int pinA,const int p
       params->pins[no_adc_channels++] = adc_pins[i];
     }
   }
-  
+
   t->user_data = params;
   params->adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION);
   params->no_adc_channels = no_adc_channels;
   return params;
 }
 
+static IRAM_ATTR _mcpwmTriggerADCCallback(mcpwm_timer_handle_t tim, const mcpwm_timer_event_data_t* edata, void* user_data){
+  ESP32CurrentSenseParams *p = (ESP32CurrentSenseParams*)user_data;
+#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG // debugging toggle pin to measure the time of the interrupt with oscilloscope
+  gpio_set_level(GPIO_NUM,1); //cca 250ns for on+off
+#endif
 
+  // 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]);
+
+#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
+  return true;
+}
 
 void* _driverSyncLowSide(void* driver_params, void* cs_params){
 #ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG
@@ -115,29 +132,12 @@ void* _driverSyncLowSide(void* driver_params, void* cs_params){
 
   // set the callback for the low side current sensing
   // mcpwm_timer_event_callbacks_t can be used to set the callback
-  // for three timer events 
+  // for three timer events
   // - on_full  - low-side
-  // - on_empty - high-side 
+  // - on_empty - high-side
   // - on_sync  - sync event (not used with simplefoc)
   auto cbs = mcpwm_timer_event_callbacks_t{
-    .on_full = [](mcpwm_timer_handle_t tim, const mcpwm_timer_event_data_t* edata, void* user_data){ 
-      ESP32CurrentSenseParams *p = (ESP32CurrentSenseParams*)user_data;
-#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG // debugging toggle pin to measure the time of the interrupt with oscilloscope
-      gpio_set_level(GPIO_NUM,1); //cca 250ns for on+off
-#endif
-
-      // 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]); 
-
-#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
-      return true; 
-    },
+    .on_full = _mcpwmTriggerADCCallback,
   };
   SIMPLEFOC_ESP32_CS_DEBUG("Timer "+String(t->timer_id)+" enable interrupt callback.");
   // set the timer state to init (so that we can call the `mcpwm_timer_register_event_callbacks` )