Rename low-side ADC path labels from legacy to ADC_READ.

Wrap ESP32 digi ADC sources in ARDUINO_ARCH_ESP32 guards so AVR CI
builds do not pull sdkconfig.h. Select DMA backend per chip (I2S /
SPI3 / GDMA) via internal.h so classic ESP32 and S2 do not compile
GDMA. Include esp32_mcu.h before MCPWM guard in lowside.cpp.

Author: uLipe

src/current_sense/hardware_specific/esp32/esp32_adc_digi_driver.c

@@ -10,7 +10,8 @@
  *   - ETM:        ESP32-S3 and newer only; see esp32_adc_etm.c.
  */
 
-#include "sdkconfig.h"
+#if defined(ARDUINO_ARCH_ESP32)
+
 #include "esp32_adc_digi_internal.h"
 
 #if SIMPLEFOC_ESP32_ADC_DIGI_SUPPORTED
@@ -118,13 +119,25 @@ static void esp32_adc_apply_max_clock(esp32_adc_digi_ctx_t *adc)
     adc_ll_digi_set_clk_div(1);
     adc_ll_set_sample_cycle(ADC_LL_SAMPLE_CYCLE_DEFAULT);
 #else
+#if defined(ADC_DIGI_CLK_SRC_PLL_F80M)
     const soc_module_clk_t fast_src = SOC_MOD_CLK_PLL_F80M;
+    const soc_periph_adc_digi_clk_src_t adc_clk = ADC_DIGI_CLK_SRC_PLL_F80M;
+#elif defined(ADC_DIGI_CLK_SRC_PLL_F96M)
+    const soc_module_clk_t fast_src = SOC_MOD_CLK_PLL_F96M;
+    const soc_periph_adc_digi_clk_src_t adc_clk = ADC_DIGI_CLK_SRC_PLL_F96M;
+#elif defined(ADC_DIGI_CLK_SRC_APB)
+    const soc_module_clk_t fast_src = SOC_MOD_CLK_APB;
+    const soc_periph_adc_digi_clk_src_t adc_clk = ADC_DIGI_CLK_SRC_APB;
+#else
+    const soc_module_clk_t fast_src = (soc_module_clk_t)ADC_DIGI_CLK_SRC_DEFAULT;
+    const soc_periph_adc_digi_clk_src_t adc_clk = ADC_DIGI_CLK_SRC_DEFAULT;
+#endif
     ESP_ERROR_CHECK(esp_clk_tree_enable_src(fast_src, true));
     uint32_t clk_hz = 0;
     ESP_ERROR_CHECK(esp_clk_tree_src_get_freq_hz(fast_src, ESP_CLK_TREE_SRC_FREQ_PRECISION_CACHED, &clk_hz));
-    adc->hal_cfg.clk_src = ADC_DIGI_CLK_SRC_PLL_F80M;
+    adc->hal_cfg.clk_src = adc_clk;
     adc->hal_cfg.clk_src_freq_hz = clk_hz;
-    adc_ll_digi_clk_sel(ADC_DIGI_CLK_SRC_PLL_F80M);
+    adc_ll_digi_clk_sel(adc_clk);
     adc_ll_digi_controller_clk_div(0, 1, 0);
     adc_ll_digi_set_clk_div(1);
     adc_ll_set_sample_cycle(ADC_LL_SAMPLE_CYCLE_DEFAULT);
@@ -443,4 +456,5 @@ esp_err_t esp32_adc_digi_trigger_software(void)
     return ESP_OK;
 }
 
-#endif
+#endif /* SIMPLEFOC_ESP32_ADC_DIGI_SUPPORTED */
+#endif /* ARDUINO_ARCH_ESP32 */

src/current_sense/hardware_specific/esp32/esp32_adc_digi_driver.h

@@ -8,7 +8,8 @@
  */
 #pragma once
 
-#include "sdkconfig.h"
+#if defined(ARDUINO_ARCH_ESP32)
+
 #include "esp_err.h"
 #include "hal/adc_types.h"
 #include "esp32_adc_digi_internal.h"
@@ -52,3 +53,4 @@ bool esp32_adc_digi_etm_supported(void);
 #endif
 
 #endif /* SIMPLEFOC_ESP32_ADC_DIGI_SUPPORTED */
+#endif /* ARDUINO_ARCH_ESP32 */

src/current_sense/hardware_specific/esp32/esp32_adc_digi_internal.h

@@ -5,6 +5,13 @@
  */
 #pragma once
 
+#if !defined(ARDUINO_ARCH_ESP32)
+
+#define SIMPLEFOC_ESP32_ADC_DIGI_SUPPORTED 0
+#define SIMPLEFOC_ESP32_ADC_ETM_SUPPORTED 0
+
+#else
+
 #include <stdbool.h>
 #include <stdint.h>
 #include "sdkconfig.h"
@@ -29,36 +36,29 @@
  *   - ESP32-S3+: GDMA  (esp32_adc_dma_gdma.c)
  */
 
-#if defined(ARDUINO_ARCH_ESP32)
-
 #define SIMPLEFOC_ESP32_ADC_DIGI_SUPPORTED 1
 
-/* ETM is not available on original ESP32 or ESP32-S2. */
-#if SOC_ETM_SUPPORTED && !CONFIG_IDF_TARGET_ESP32 && !CONFIG_IDF_TARGET_ESP32S2
-#define SIMPLEFOC_ESP32_ADC_ETM_SUPPORTED 1
-#else
-#define SIMPLEFOC_ESP32_ADC_ETM_SUPPORTED 0
+#if CONFIG_IDF_TARGET_ESP32
+#define SIMPLEFOC_ESP32_ADC_USE_I2S_DMA 1
+#elif CONFIG_IDF_TARGET_ESP32S2
+#define SIMPLEFOC_ESP32_ADC_USE_SPI3_DMA 1
+#elif SOC_GDMA_SUPPORTED
+#define SIMPLEFOC_ESP32_ADC_USE_GDMA_DMA 1
 #endif
 
+#if SOC_ETM_SUPPORTED && defined(SIMPLEFOC_ESP32_ADC_USE_GDMA_DMA)
+#define SIMPLEFOC_ESP32_ADC_ETM_SUPPORTED 1
 #else
-
-#define SIMPLEFOC_ESP32_ADC_DIGI_SUPPORTED 0
 #define SIMPLEFOC_ESP32_ADC_ETM_SUPPORTED 0
-
 #endif
 
-/* Pattern / DMA sizing — kept aligned with espFoC isensor_adc_internal.h */
 #define SIMPLEFOC_ESP32_ADC_PATTERN_HZ      80000
 #define SIMPLEFOC_ESP32_ADC_NUM_CHANNELS    2
 #define SIMPLEFOC_ESP32_ADC_CONVERT_LIMIT   2
 
 #define ESP32_ADC_DIGI_FRAME_BYTES \
     (SIMPLEFOC_ESP32_ADC_NUM_CHANNELS * SOC_ADC_DIGI_RESULT_BYTES)
 
-/*
- * DMA writes adc_digi_output_data_t[N] into adc_buffer (zero-copy).
- * int adc_buffer[3] must be DMA-capable and >= ESP32_ADC_DIGI_FRAME_BYTES used bytes.
- */
 #if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2
 #define ESP32_ADC_DIGI_SAMPLE_RAW(p)  ((int32_t)((p)->type1.data))
 #else
@@ -106,3 +106,5 @@ esp_err_t esp32_adc_digi_etm_enable(bool enable);
 void esp32_adc_digi_etm_disconnect(void);
 
 #endif /* SIMPLEFOC_ESP32_ADC_ETM_SUPPORTED */
+
+#endif /* ARDUINO_ARCH_ESP32 */

src/current_sense/hardware_specific/esp32/esp32_adc_digi_lowside.cpp

@@ -1,6 +1,9 @@
-#include "esp32_adc_digi_lowside.h"
+#include "esp32_mcu.h"
+
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) \
+    && !defined(SIMPLEFOC_ESP32_USELEDC)
 
-#if SIMPLEFOC_ESP32_ADC_DIGI_SUPPORTED && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)
+#include "esp32_adc_digi_lowside.h"
 
 #include "esp32_adc_digi_driver.h"
 #include "../../../drivers/hardware_specific/esp32/esp32_driver_mcpwm.h"
@@ -47,12 +50,12 @@ static esp_err_t esp32_adc_digi_bind_params(ESP32CurrentSenseParams *params)
 ESP32AdcLowsidePath esp32_adc_lowside_configure(ESP32CurrentSenseParams *params)
 {
     if (params == NULL || !esp32_adc_digi_supported()) {
-        return ESP32_ADC_LOWSIDE_LEGACY;
+        return ESP32_ADC_LOWSIDE_ADC_READ;
     }
 
     if (esp32_adc_digi_bind_params(params) != ESP_OK) {
-        SIMPLEFOC_ESP32_CS_DEBUG("WARN: ADC digi+DMA init failed, using legacy adcRead path");
-        return ESP32_ADC_LOWSIDE_LEGACY;
+        SIMPLEFOC_ESP32_CS_DEBUG("WARN: ADC digi+DMA init failed, using ADC_READ (adcRead) path");
+        return ESP32_ADC_LOWSIDE_ADC_READ;
     }
 
     params->adc_lowside_path = ESP32_ADC_LOWSIDE_DIGI_SW;
@@ -191,7 +194,7 @@ void *esp32_adc_lowside_sync_mcpwm(void *driver_params, ESP32CurrentSenseParams
     }
 
 #if SIMPLEFOC_ESP32_ADC_ETM_SUPPORTED
-    if (esp32_adc_digi_etm_supported() && cs->adc_lowside_path != ESP32_ADC_LOWSIDE_LEGACY) {
+    if (esp32_adc_digi_etm_supported() && cs->adc_lowside_path != ESP32_ADC_LOWSIDE_ADC_READ) {
         return esp32_adc_lowside_sync_etm(driver_params, cs);
     }
 #endif

src/current_sense/hardware_specific/esp32/esp32_adc_digi_lowside.h

@@ -7,9 +7,12 @@
  */
 #pragma once
 
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) \
+    && !defined(SIMPLEFOC_ESP32_USELEDC)
+
 #include "esp32_adc_digi_internal.h"
 
-#if SIMPLEFOC_ESP32_ADC_DIGI_SUPPORTED && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)
+#if SIMPLEFOC_ESP32_ADC_DIGI_SUPPORTED
 
 #include "esp32_mcu.h"
 
@@ -18,4 +21,5 @@ bool esp32_adc_lowside_uses_mcpwm_isr(const ESP32CurrentSenseParams *params);
 void *esp32_adc_lowside_sync_mcpwm(void *driver_params, ESP32CurrentSenseParams *cs);
 void esp32_adc_lowside_start_conversion(void);
 
+#endif /* SIMPLEFOC_ESP32_ADC_DIGI_SUPPORTED */
 #endif

src/current_sense/hardware_specific/esp32/esp32_adc_dma_esp32.c

@@ -6,9 +6,11 @@
  * I2S DMA backend for ADC digi on ESP32 (i2s_ll only).
  */
 
-#include "sdkconfig.h"
+#if defined(ARDUINO_ARCH_ESP32)
 
-#if CONFIG_IDF_TARGET_ESP32
+#include "esp32_adc_digi_internal.h"
+
+#if defined(SIMPLEFOC_ESP32_ADC_USE_I2S_DMA) && SIMPLEFOC_ESP32_ADC_USE_I2S_DMA
 
 #include "esp_err.h"
 #include "esp_intr_alloc.h"
@@ -17,7 +19,6 @@
 #include "hal/adc_hal.h"
 #include "soc/i2s_periph.h"
 #include "esp_private/i2s_platform.h"
-#include "esp32_adc_digi_internal.h"
 
 #define ADC_DMA_I2S_HOST    ADC_HAL_DMA_I2S_HOST
 #define ADC_DMA_INTR_MASK   BIT(9)
@@ -128,4 +129,5 @@ esp_err_t esp32_adc_digi_dma_reset(esp32_adc_digi_dma_ctx_t *ctx)
     return ESP_OK;
 }
 
-#endif
+#endif /* SIMPLEFOC_ESP32_ADC_USE_I2S_DMA */
+#endif /* ARDUINO_ARCH_ESP32 */

src/current_sense/hardware_specific/esp32/esp32_adc_dma_esp32s2.c

@@ -6,16 +6,17 @@
  * SPI3 DMA backend for ADC digi on ESP32-S2 (spi_ll + spicommon).
  */
 
-#include "sdkconfig.h"
+#if defined(ARDUINO_ARCH_ESP32)
 
-#if CONFIG_IDF_TARGET_ESP32S2
+#include "esp32_adc_digi_internal.h"
+
+#if defined(SIMPLEFOC_ESP32_ADC_USE_SPI3_DMA) && SIMPLEFOC_ESP32_ADC_USE_SPI3_DMA
 
 #include "esp_err.h"
 #include "esp_intr_alloc.h"
 #include "esp_attr.h"
 #include "hal/spi_ll.h"
 #include "esp_private/spi_common_internal.h"
-#include "esp32_adc_digi_internal.h"
 
 #define ADC_DMA_SPI_HOST    SPI3_HOST
 #define ADC_DMA_INTR_MASK   SPI_LL_INTR_IN_SUC_EOF
@@ -133,4 +134,5 @@ esp_err_t esp32_adc_digi_dma_reset(esp32_adc_digi_dma_ctx_t *ctx)
     return ESP_OK;
 }
 
-#endif
+#endif /* SIMPLEFOC_ESP32_ADC_USE_SPI3_DMA */
+#endif /* ARDUINO_ARCH_ESP32 */

src/current_sense/hardware_specific/esp32/esp32_adc_dma_gdma.c

@@ -6,9 +6,11 @@
  * GDMA RX backend for ADC digi (ESP32-S3, C3, C6, …) using gdma_hal + gdma_ll only.
  */
 
-#include "sdkconfig.h"
+#if defined(ARDUINO_ARCH_ESP32)
 
-#if !CONFIG_IDF_TARGET_ESP32 && !CONFIG_IDF_TARGET_ESP32S2
+#include "esp32_adc_digi_internal.h"
+
+#if defined(SIMPLEFOC_ESP32_ADC_USE_GDMA_DMA) && SIMPLEFOC_ESP32_ADC_USE_GDMA_DMA
 
 #include "esp_err.h"
 #include "esp_intr_alloc.h"
@@ -18,7 +20,6 @@
 #include "hal/gdma_ll.h"
 #include "hal/gdma_types.h"
 #include "soc/gdma_periph.h"
-#include "esp32_adc_digi_internal.h"
 
 #define ESP32_ADC_GDMA_GROUP   0
 #define ESP32_ADC_GDMA_PAIR    2
@@ -143,4 +144,5 @@ esp_err_t esp32_adc_digi_dma_reset(esp32_adc_digi_dma_ctx_t *ctx)
     return ESP_OK;
 }
 
-#endif
+#endif /* SIMPLEFOC_ESP32_ADC_USE_GDMA_DMA */
+#endif /* ARDUINO_ARCH_ESP32 */

src/current_sense/hardware_specific/esp32/esp32_adc_etm.c

@@ -6,7 +6,8 @@
  * ETM wiring: MCPWM timer event -> ADC digi START task.
  */
 
-#include "sdkconfig.h"
+#if defined(ARDUINO_ARCH_ESP32)
+
 #include "esp32_adc_digi_internal.h"
 
 #if SIMPLEFOC_ESP32_ADC_ETM_SUPPORTED
@@ -19,8 +20,6 @@
 #include "esp_private/etm_interface.h"
 #include "soc/soc_caps.h"
 #include "soc/soc_etm_source.h"
-#include "esp32_adc_digi_internal.h"
-
 static const char *TAG = "esp32_adc_etm";
 
 typedef struct {
@@ -157,3 +156,4 @@ void esp32_adc_digi_etm_disconnect(void)
 }
 
 #endif /* SIMPLEFOC_ESP32_ADC_ETM_SUPPORTED */
+#endif /* ARDUINO_ARCH_ESP32 */