Fix esp32s3 to support the fourth stepper (issue #212)

gin66 · Dec 6, 2023 · 84e5ff9 · 84e5ff9
1 parent 90bf7f1
commit 84e5ff9
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,9 @@ TODO:
 - rename RampConstAcceleration to e.g. RampControl
 - merge the two esp32 rmt drivers as soon as esp32c3 works
 
+pre-0.30.9:
+- Fix esp32s3 to support the fourth stepper (issue #212)
+
 0.30.8:
 - Implement `setAbsoluteSpeedLimit(uint16_t max_speed_in_ticks)` as proposed by issue #210
 

diff --git a/src/StepperISR_esp32_mcpwm_pcnt.cpp b/src/StepperISR_esp32_mcpwm_pcnt.cpp
@@ -55,7 +55,6 @@ static struct mapping_s channel2mapping[NUM_QUEUES] = {
       cmpr_tea_int_ena : MCPWM_OP2_TEA_INT_ENA,
       cmpr_tea_int_raw : MCPWM_OP2_TEA_INT_RAW
     },
-#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
     {
       mcpwm_unit : MCPWM_UNIT_1,
       timer : 0,
@@ -66,6 +65,7 @@ static struct mapping_s channel2mapping[NUM_QUEUES] = {
       cmpr_tea_int_ena : MCPWM_OP0_TEA_INT_ENA,
       cmpr_tea_int_raw : MCPWM_OP0_TEA_INT_RAW
     },
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
     {
       mcpwm_unit : MCPWM_UNIT_1,
       timer : 1,
@@ -339,8 +339,8 @@ static void IRAM_ATTR mcpwm0_isr_service(void *arg) {
   MCPWM_SERVICE(MCPWM0, 2, 2);
 }
 static void IRAM_ATTR mcpwm1_isr_service(void *arg) {
-#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
   MCPWM_SERVICE(MCPWM1, 0, 3);
+#ifndef SUPPORT_ESP32S3_MCPWM_PCNT
   MCPWM_SERVICE(MCPWM1, 1, 4);
   MCPWM_SERVICE(MCPWM1, 2, 5);
 #endif