From 84e5ff952e0c18201e45540e1a32da05f2bcbcb6 Mon Sep 17 00:00:00 2001
From: Jochen Kiemes <jochen@kiemes.de>
Date: Wed, 6 Dec 2023 09:30:42 +0100
Subject: [PATCH] Fix esp32s3 to support the fourth stepper (issue #212)

---
 CHANGELOG.md                        | 3 +++
 src/StepperISR_esp32_mcpwm_pcnt.cpp | 4 ++--
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index c51d215a..fb465a4f 100644
--- 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
index 4177ede7..e0910e50 100644
--- 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