Merge pull request #1 from DerZaske/motorcontrolPWM

Motorcontrol pwm
2025-02-24 14:56:55 +01:00
parent 70ffc6af53 d2f38fa7d7
commit f6c90384f8
32 changed files with 2036 additions and 699 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -10,7 +10,8 @@
 CMakeFiles/
 cmake-build-debug/
 build/
-
+sdkconfig
+sdkconfig.old
 CMakeCache.txt
 cmake-build-debug/.ninja_deps
 cmake-build-debug/.ninja_log
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
--- a/README.md
+++ b/README.md
--- a/components/ssd1306/CMakeLists.txt
+++ b/components/ssd1306/CMakeLists.txt
--- a/components/ssd1306/Kconfig.projbuild
+++ b/components/ssd1306/Kconfig.projbuild
@@ -132,7 +132,7 @@ menu "SSD1306 Configuration"
 	config RESET_GPIO
 		int "RESET GPIO number"
 		range -1 GPIO_RANGE_MAX
-		default 15 if IDF_TARGET_ESP32
+		default -1 if IDF_TARGET_ESP32
 		default 38 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
 		default  4 # C3 and others
 		help
--- a/components/ssd1306/include/font8x8_basic.h
+++ b/components/ssd1306/include/font8x8_basic.h
--- a/components/ssd1306/include/ssd1306.h
+++ b/components/ssd1306/include/ssd1306.h
--- a/components/ssd1306/ssd1306.c
+++ b/components/ssd1306/ssd1306.c
--- a/components/ssd1306/ssd1306_i2c_legacy.c
+++ b/components/ssd1306/ssd1306_i2c_legacy.c
--- a/components/ssd1306/ssd1306_i2c_new.c
+++ b/components/ssd1306/ssd1306_i2c_new.c
--- a/components/ssd1306/ssd1306_spi.c
+++ b/components/ssd1306/ssd1306_spi.c
--- a/dependencies.lock
+++ b/dependencies.lock
@@ -2,7 +2,7 @@ dependencies:
  idf:
    source:
      type: idf
-    version: 5.2.3
+    version: 5.3.0
 manifest_hash: 482e2222071e855d99a96f5a61a37a4f589f24e7994d6610de1e65027e5a15a9
 target: esp32
 version: 2.0.0
--- a/generate_pins_header.py
+++ b/generate_pins_header.py
@@ -26,7 +26,7 @@ with open(sdkconfig_path, "r") as f:

 # Header-Datei erzeugen
 with open(header_path, "w") as header:
-    header.write("// Automatically generated file. Do not modify.\n\n")
+    header.write("// Automatically generated file. Do not modify.\n#ifndef PARSED_PINS_H\n#define PARSED_PINS_H\n\n")

    for config_var, pin1_name, pin2_name, pin3_name in config_entries:
        # Suche nach dem Konfigurationswert
@@ -47,5 +47,6 @@ with open(header_path, "w") as header:
            print(f"Parsed {config_var}: {pins[0].strip()}, {pins[1].strip()}, {pins[2].strip()}")
        else:
            print(f"Warning: {config_var} not found in sdkconfig")
+    header.write("#endif")

 print(f"Header file '{header_path}' generated successfully.")
--- a/main/ADC.c
+++ b/main/ADC.c
@@ -0,0 +1,100 @@
+#include "ADC.h"
+#include "freertos/FreeRTOS.h"
+#include "esp_adc/adc_cali.h"
+#include "esp_adc/adc_cali_scheme.h"
+#include "esp_log.h"
+#include "parsed_pins.h"
+#include "esp_adc/adc_oneshot.h"
+
+static portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;
+static adc_cali_handle_t cali_handle = NULL;
+static adc_oneshot_unit_handle_t adc1_handle = NULL;
+
+/*############################################*/
+/*################ ADC-Setup #################*/
+/*############################################*/
+void configure_ADC1() 
+{    
+    // ADC1 Initialisierung
+    adc_oneshot_unit_init_cfg_t init_config = {
+        .unit_id = ADC_UNIT_1,
+        .ulp_mode = ADC_ULP_MODE_DISABLE,
+    };
+    ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config, &adc1_handle));
+
+    // Kanal-Konfiguration
+    adc_oneshot_chan_cfg_t config = {
+        .bitwidth = ADC_BITWIDTH_DEFAULT,
+        .atten = ADC_ATTEN_DB_12,
+    };
+    ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, CONFIG_TORQUE_ADC, &config));
+    ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, CONFIG_U_SENSE_ADC, &config));
+    ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, CONFIG_I_SENSE_U_ADC, &config));
+    ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, CONFIG_I_SENSE_V_ADC, &config));
+    ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, CONFIG_I_SENSE_W_ADC, &config));
+
+    // Kalibrierung initialisieren
+    adc_cali_line_fitting_config_t cali_config = {
+        .atten = ADC_ATTEN_DB_12,
+        .bitwidth = ADC_BITWIDTH_DEFAULT,
+    };
+
+    esp_err_t ret = adc_cali_create_scheme_line_fitting(&cali_config, &cali_handle);
+    if (ret == ESP_OK) {
+        ESP_LOGI("ADC", "ADC-Kalibrierung erfolgreich initialisiert");
+    } else {
+        ESP_LOGW("ADC", "ADC-Kalibrierung nicht möglich, Rohwerte werden verwendet");
+        cali_handle = NULL;  // Keine Kalibrierung verfügbar
+    }
+
+}
+
+static uint32_t read_voltage(int channel) {
+    int adc_raw = 0;
+    int voltage_calibrated = 0;  // Verwende int für die Kalibrierungsfunktion
+    uint32_t voltage = 0;         // Konvertiere später zu uint32_t
+
+    // ADC-Rohwert lesen
+    ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, channel, &adc_raw));
+
+    // Kalibrierung anwenden, falls verfügbar
+    if (cali_handle) {
+        ESP_ERROR_CHECK(adc_cali_raw_to_voltage(cali_handle, adc_raw, &voltage_calibrated));
+        voltage = (uint32_t) voltage_calibrated;  // Konvertiere zu uint32_t
+    } else {
+        voltage = adc_raw;  // Fallback auf Rohwert
+    }
+
+    return voltage;
+}
+
+// Funktion zur Umrechnung in spezifische Spannung
+uint32_t get_voltage_in()
+{
+    uint32_t adc_voltage = read_voltage(CONFIG_U_SENSE_ADC);
+    ESP_LOGI("ADC", "ADC%d:voltage:%ld", CONFIG_U_SENSE_ADC, adc_voltage);
+    uint32_t voltage_in = adc_voltage / 0.0909;
+    return voltage_in;
+}
+
+int32_t get_current_ASC712(int ADC_pin)
+{
+    int32_t adc_voltage = read_voltage(ADC_pin);
+    int32_t current = (adc_voltage +184)/(10.0/12)-2500;
+    ESP_LOGI("ADC", "ADC%d:voltage:%ldcurrent%ld", ADC_pin, adc_voltage, current);
+    return current;
+}
+
+uint32_t get_torque()
+{
+    uint32_t adc_voltage =read_voltage(CONFIG_TORQUE_ADC);
+    uint32_t torque = adc_voltage/33;
+
+    return torque;
+}
+int32_t get_current_bridge(int ADC_pin){
+    int32_t adc_voltage = read_voltage(ADC_pin);
+     ESP_LOGI("CurrentBridge", "ADC:%ld",adc_voltage);
+    int32_t current = ((adc_voltage- 142)/6.77)/0.007;
+    return current;
+}
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -1,3 +1,3 @@
-idf_component_register(SRCS "functions.c" "app_main.c"
+idf_component_register(SRCS "menu.c" "ADC.c" "GPIO.c" "mcpwm.c" "functions.c" "app_main.c"
                       INCLUDE_DIRS "include""${CMAKE_SOURCE_DIR}""."
-                       REQUIRES ssd1306 driver esp_adc)
+                       REQUIRES ssd1306 driver esp_adc hal esp_timer)
--- a/main/GPIO.c
+++ b/main/GPIO.c
@@ -0,0 +1,219 @@
+#include "GPIO.h"
+#include "driver/gpio.h"
+#include "parsed_pins.h"
+#include "esp_log.h"
+#include "sdkconfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_timer.h"
+#include "driver/uart.h"
+#include "soc/io_mux_reg.h"
+//external Encoder
+static void IRAM_ATTR index_isr_handler(void *arg);
+static void IRAM_ATTR enc_ab_isr_handler(void *arg);
+
+static volatile int64_t delta_index_time = 0;
+static volatile int64_t last_index_time = 0;
+static volatile int64_t delta_AB_time = 0;
+static volatile int64_t last_AB_time = 0;
+
+static volatile int16_t enc_in_counter = 0;
+static volatile int64_t last_interrupt_time = 0;
+static volatile uint16_t last_interrupt_time_but = 0;
+static volatile bool enc_in_button_state = false;
+static volatile uint8_t last_state = 0;
+
+/*############################################*/
+/*############### GPIO-Setup #################*/
+/*############################################*/
+
+void configure_GPIO_dir()
+{
+    /* reset every used GPIO-pin */  
+   uart_driver_delete(UART_NUM_0);
+    // GPIO1 als GPIO konfigurieren (anstatt als UART0 TX)
+    PIN_FUNC_SELECT(IO_MUX_GPIO1_REG, PIN_FUNC_GPIO);
+    
+    // GPIO3 als GPIO konfigurieren (anstatt als UART0 RX)
+    PIN_FUNC_SELECT(IO_MUX_GPIO3_REG, PIN_FUNC_GPIO);
+
+    gpio_reset_pin(CONFIG_HALL_A_GPIO);
+    gpio_reset_pin(CONFIG_HALL_B_GPIO);
+    gpio_reset_pin(CONFIG_HALL_C_GPIO);
+
+    gpio_reset_pin(CONFIG_IN_ENC_A_GPIO); 
+    gpio_reset_pin(CONFIG_IN_ENC_B_GPIO);
+    gpio_reset_pin(CONFIG_IN_ENC_BUT_GPIO);
+
+   
+    gpio_reset_pin(CONFIG_EXT_ENC_LEFT_GPIO);
+    gpio_reset_pin(CONFIG_EXT_ENC_RIGHT_GPIO);
+    
+    gpio_reset_pin(CONFIG_RFE_GPIO);
+    gpio_config_t io_conf_RFE = {};
+    io_conf_RFE.intr_type = GPIO_INTR_DISABLE; // Keine Interrupts
+    io_conf_RFE.mode = GPIO_MODE_INPUT;        // Als Eingang setzen
+    io_conf_RFE.pin_bit_mask = (1ULL << CONFIG_RFE_GPIO); // Pin festlegen
+    io_conf_RFE.pull_down_en = GPIO_PULLDOWN_DISABLE;
+    io_conf_RFE.pull_up_en = GPIO_PULLUP_DISABLE;     // Pull-up-Widerstand deaktivieren
+    gpio_config(&io_conf_RFE);
+    
+    /* Set the GPIO as a push/pull output*/
+    
+
+    gpio_set_direction(CONFIG_HALL_A_GPIO, GPIO_MODE_INPUT);
+    gpio_set_direction(CONFIG_HALL_B_GPIO, GPIO_MODE_INPUT);
+    gpio_set_direction(CONFIG_HALL_C_GPIO, GPIO_MODE_INPUT);
+
+    gpio_set_direction(CONFIG_IN_ENC_A_GPIO, GPIO_MODE_INPUT);
+    gpio_set_direction(CONFIG_IN_ENC_B_GPIO, GPIO_MODE_INPUT);
+    gpio_set_pull_mode(CONFIG_IN_ENC_A_GPIO, GPIO_PULLUP_ENABLE);
+    gpio_set_pull_mode(CONFIG_IN_ENC_B_GPIO, GPIO_PULLUP_ENABLE);
+    gpio_set_direction(CONFIG_IN_ENC_BUT_GPIO, GPIO_MODE_INPUT);
+    
+    
+    gpio_set_direction(CONFIG_EXT_ENC_LEFT_GPIO, GPIO_MODE_INPUT);
+    gpio_set_direction(CONFIG_EXT_ENC_RIGHT_GPIO, GPIO_MODE_INPUT);
+  
+
+    ESP_LOGI("GPIO", "configured for DIY power PCB");
+
+    gpio_config_t io_conf = {};
+    io_conf.pin_bit_mask = (1ULL << CONFIG_EXT_ENC_INDX_GPIO)| (1ULL << CONFIG_HALL_A_GPIO)| (1ULL << CONFIG_IN_ENC_A_GPIO)| (1ULL << CONFIG_IN_ENC_B_GPIO);
+    io_conf.mode = GPIO_MODE_INPUT;
+    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
+    io_conf.intr_type = GPIO_INTR_ANYEDGE;  // Interrupt auf beiden Flanken
+    gpio_config(&io_conf);
+
+    
+
+    gpio_config_t io_conf_negedge = {};
+    io_conf_negedge.pin_bit_mask = (1ULL << CONFIG_IN_ENC_BUT_GPIO);
+    io_conf_negedge.mode = GPIO_MODE_INPUT;
+    io_conf_negedge.pull_up_en = GPIO_PULLUP_ENABLE;
+    io_conf_negedge.intr_type = GPIO_INTR_POSEDGE; // Interrupt nur auf positive Flanken
+    gpio_config(&io_conf_negedge);
+
+    gpio_install_isr_service(0);
+    ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_EXT_ENC_INDX_GPIO, index_isr_handler, NULL));
+    ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_HALL_A_GPIO, enc_ab_isr_handler, NULL));
+   
+}
+
+/*############################################*/
+/*############### Ext Encoder ################*/
+/*############################################*/
+static void IRAM_ATTR index_isr_handler(void *arg){
+    uint64_t current_time = esp_timer_get_time();
+
+    if (last_index_time != 0){
+        delta_index_time = current_time - last_index_time;
+    }
+    last_index_time = current_time;
+}
+static void IRAM_ATTR enc_ab_isr_handler(void *arg){
+    uint64_t current_time = esp_timer_get_time();
+
+    if (last_AB_time != 0){
+        delta_AB_time = current_time - last_AB_time;
+    }
+    last_AB_time = current_time;
+}
+
+float get_speed_index(){
+    uint64_t local_delta_time = delta_index_time;
+    float speed_rpm = 0;
+    if (local_delta_time>0){
+        speed_rpm = (60.0*1000000.0/local_delta_time);
+        ESP_LOGI("Encoder", "Geschwindigkeit_Indx: %.2f RPM", speed_rpm);
+    }
+return speed_rpm;
+}
+float get_speed_AB(){
+    uint64_t local_delta_time = delta_AB_time;
+    float speed_rpm = 0;
+    if (local_delta_time>0){
+        speed_rpm = (60.0*1000000.0/local_delta_time)/1000;
+        ESP_LOGI("Encoder", "Geschwindigkeit_AB: %.2f RPM", speed_rpm);
+    }
+return speed_rpm;
+}
+int get_direction(){//-1=Error,0=right,1=left
+    bool right = gpio_get_level(CONFIG_EXT_ENC_RIGHT_GPIO);
+    bool left = gpio_get_level(CONFIG_EXT_ENC_LEFT_GPIO);
+    int direction;
+    if (left && right){
+        direction= -1;
+        ESP_LOGI("Encoder","Direction: Error");
+    }else if(right){
+        direction = 0;
+        ESP_LOGI("Encoder","Direction: Right");
+    }else{
+        direction = 1;
+           ESP_LOGI("Encoder","Direction: Left");
+    }
+    return direction;
+
+}
+
+
+/*############################################*/
+/*############ Internal Encoder ##############*/
+/*############################################*
+
+static void IRAM_ATTR enc_in_isr_handler(void *arg) {
+    static uint64_t last_interrupt_time = 0;
+    
+    // Aktueller Zustand der Pins lesen
+    uint8_t current_state = (gpio_get_level(CONFIG_IN_ENC_A_GPIO) << 1) | gpio_get_level(CONFIG_IN_ENC_B_GPIO);
+    uint64_t interrupt_time = esp_timer_get_time();
+
+    // Zustandswechsel-Logik (FSM) ohne starre Entprellzeit
+    if (current_state != last_state) { 
+        // Nur wenn der Wechsel signifikant verzögert ist (gute Flanke)
+        if ((interrupt_time - last_interrupt_time) > CONFIG_IN_ENCODER_DEBOUNCE_TIME) {
+            if ((last_state == 0b01 && current_state == 0b11) || 
+                (last_state == 0b10 && current_state == 0b00)) {
+                enc_in_counter--;  // Vorwärtsdrehen
+            } else if ((last_state == 0b10 && current_state == 0b11) || 
+                       (last_state == 0b01 && current_state == 0b00)) {
+                enc_in_counter++;  // Rückwärtsdrehen
+            }
+            last_state = current_state;  // Zustand aktualisieren
+            last_interrupt_time = interrupt_time;
+        }
+    }
+}
+
+static void IRAM_ATTR enc_in_but_isr_handler(void *arg) {
+   uint64_t interrupt_time = esp_timer_get_time();
+    
+    // Entprellung: Verhindert die Erfassung von Störungen aufgrund von Prellung
+    if (interrupt_time - last_interrupt_time_but > (CONFIG_IN_ENCODER_DEBOUNCE_TIME*1000)) {  //  Entprellungszeit
+        last_interrupt_time_but = interrupt_time; // Entprellzeit zurücksetzen
+        // Bestimmen der Richtung anhand des Zustands von Pin A und B
+        if (gpio_get_level(CONFIG_IN_ENC_A_GPIO)) {
+            enc_in_button_state = true;
+        }
+
+    }
+}
+
+int16_t get_enc_in_counter(){
+ESP_LOGI("Encoder_Int","Counter:%i",enc_in_counter);
+return enc_in_counter;
+}
+
+void set_enc_in_counter(int16_t inital_value){
+    enc_in_counter = inital_value;
+}
+
+bool get_enc_in_but(){
+    if (enc_in_button_state){
+        enc_in_button_state = false;
+        return true;
+    }
+    else{
+        return false;
+    }
+}*/
--- a/main/Kconfig.projbuild
+++ b/main/Kconfig.projbuild
@@ -1,4 +1,18 @@
 menu "DIY Power PCB Configuration"
+    choice Version
+		prompt "Hardware Version"
+		default V2
+		help
+			Choose Version of the used PCB
+		config V2
+			bool "V2"
+			help
+				second Rev. of the DIY Power PCB
+		config V1
+			bool "V1"
+			help
+				first rev. of the DIY power PCB
+	endchoice

    orsource "$IDF_PATH/examples/common_components/env_caps/$IDF_TARGET/Kconfig.env_caps"
    menu "ADC 1 configurations"
@@ -17,7 +31,7 @@ menu "DIY Power PCB Configuration"
        string "Current sensing ADC1 numbers of U, V, W"
        default "6, 3, 0"
        help
-            ADC1 numbers of the current sensing pins at U,V and W. Write seperated by a comma. example:"34,29,36"
+            ADC1 numbers of the current sensing pins at U,V and W. Write seperated by a comma. example:"34, 29, 36"
    config TORQUE_ADC
        int "Torque sensing ADC1 number"
        default 4
@@ -30,25 +44,6 @@ menu "DIY Power PCB Configuration"
        default "26, 14, 13"
        help
            GPIO numbers of the Highside controling pins, seperate by comma!
-    config ENABLE_PWM_HIN
-        bool "Enable PWM for Highsides"
-        default y
-        help
-            Enable PWM on the Highside Switches, probably mendatory because of bootstrap capacitors
-    if ENABLE_PWM_HIN
-    config FREQ_PWM_HIN
-        int "frequency"
-        range 20000 60000
-        default 20000
-        help
-            The base Frequency of the PWM in Hz min: 20KHz max: 60KHz
-    config DUTY_PWM_HIN
-        int "duty cycle"
-        range 0 100
-        default 50
-        help
-            The inital duty-cycle
-    endif
    endmenu
    menu "Lowside pin configurations (LIN)"
    config  LIN_U_V_W_GPIO
@@ -56,25 +51,39 @@ menu "DIY Power PCB Configuration"
        default "25, 27, 12"
        help
            GPIO numbers of the Lowside controling pins, seperate by comma!
-    config ENABLE_PWM_LIN
-        bool "Enable PWM for Lowsides"
-        default n
-        help
-            Enable PWM on the Lowside Switches, probably not mendatory because of Highside PWM more important
-    if ENABLE_PWM_LIN
-    config FREQ_PWM_LIN
-        int "frequency"
-        range 20000 60000
-        default 20000
-        help
-            The base Frequency of the PWM in Hz min: 20KHz max: 60KHz
-    config DUTY_PWM_LIN
-        int "duty cycle"
-        range 0 100
-        default 50
-        help
-            The inital duty-cycle
-    endif
+    endmenu
+    menu "PWM configuration"
+        config ENABLE_PWM
+            bool "Enable PWM"
+            default y
+            help
+                Enable PWM
+        if ENABLE_PWM
+        config TIMER_BASE_FREQ
+            int "Timers Base frequency"
+            range 1000000 40000000
+            default 40000000
+            help
+                The Base Freqeuncy of the used Timer 
+        config FREQ_PWM
+            int "frequency"
+            range 20000 80000
+            default 20000
+            help
+                The base Frequency of the PWM in Hz min: 20KHz max: 60KHz
+        config DUTY_PWM
+            int "duty cycle"
+            range 0 100
+            default 50
+            help
+                The inital duty-cycle in percent
+        endif
+        config DEAD_TIME_PWM
+            int "time (ns)"
+            range 0 10000
+            default 0
+            help 
+                Deadtime
    endmenu
    menu "Hall Sensor pin configurations"
    config  HALL_A_B_C_GPIO
@@ -85,17 +94,44 @@ menu "DIY Power PCB Configuration"
    endmenu
    menu "Input pin configurations"
    config IN_ENCODER_GPIO
-        string "turning encoder(on board) GPIO pins: A, B, Button"
-        default "3, 2, 23"
+        string "Turning encoder (on board) GPIO pins: A, B, Button"
        help
-            GPIO numbers of the pins connected to A,B and the button of the encoder
+            GPIO numbers of the pins connected to A, B, and the button of the encoder.
+            Automatically set based on the chosen hardware version.
+    config IN_ENCODER_GPIO_V1
+        string
+        default "3, 2, 23"
+        depends on V1
+        
+    config IN_ENCODER_GPIO_V2
+        string
+        default "23, 1, 3"
+        depends on V2
+        
+    config IN_ENCODER_GPIO
+        string
+        default IN_ENCODER_GPIO_V1 if V1
+        default IN_ENCODER_GPIO_V2 if V2

+    config IN_ENCODER_DEBOUNCE_TIME
+        int "Debounce Time in ms"
+        default "50"
+        help
+            debouncing time between Encoder turns
+    if V1
    config BUTTON_GPIO
        int "button GPIO pin"
        default 1
        help
            GPIO number of the pin connected to the button on the pcb
-
+    endif
+    if V2
+    config ESP_LED
+        int "ESP LED GPIO pin"
+        default 2
+        help
+            GPIO number of the pin conneted to the LED on the ESP module
+    endif
    config EXT_ENCODER_GPIO
        string "encoder(at motor) GPIO pins: Indx, Left, Right"
        default "16, 18, 5"
@@ -107,12 +143,5 @@ menu "DIY Power PCB Configuration"
        help
            GPIO number of the pin connected to the RFE pin of the Bridge
    endmenu
-
-    config BLINK_PERIOD
-        int "Blink period in ms"
-        range 10 3600000
-        default 1000
-        help
-            Define the blinking period in milliseconds.
    
 endmenu
--- a/main/app_main.c
+++ b/main/app_main.c
@@ -1,74 +1,108 @@
 /* 
 This is the first try of a Test-Software for the DIY Power PCB by Fabian Zaske
 */
-#include "functions.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "GPIO.h"
+#include "mcpwm.h"
+#include "ADC.h"
+#include "string.h"
+#include "menu.h"
+#include "esp_log.h"
+#include "driver/gpio.h"
+#include "string.h"
+#include "parsed_pins.h"
+#include "sdkconfig.h"
+#include <stdbool.h>
+#include <stdint.h>

-const char *TAG = "Main_test";

 void app_main(void)
 {
-    uint32_t Torque = 0;
+   
+   
+   /* uint32_t Torque = 0;
    uint32_t Voltage_IN = 0;
    int32_t Current_U = 0;
    int32_t Current_V = 0;
    int32_t Current_W = 0;
    int32_t Current_bridge =0;
-    int duty = 512;
+    int16_t enc_counter = 0;
+    bool Hall_A_On = false;
+    bool Hall_B_On = false;
+    bool Hall_C_On = false;
+    int direction = 0;
+    float Speed_indx = 0.0;
+    float Speed_AB = 0.0;*/
+
+    bool RFE_Pulled = false;
+    uint16_t menu_counter = 0;
+    float duty = (float)CONFIG_DUTY_PWM;
+    duty = 15.0;
    char display_message[50]; // Puffer für die Nachricht
-    ESP_LOGI(TAG, "Test");
-    configure_GPIO_dir(TAG);
-    adc_oneshot_unit_handle_t adc1_handle = configure_ADC1(TAG);    
-    SSD1306_t *dev_pt = configure_OLED(TAG);
-    
-    set_PWM_Timer();
-    set_PWM();
-    int i =0;
+    bool enc_but_state = false;
+    bool in_menu = false;
+    uint16_t mcpwm_freq = CONFIG_FREQ_PWM;
+
+    configure_GPIO_dir();
+    configure_OLED();
+    config_internal_Encoder();
+    mcpwm_init();
+    configure_ADC1();
    
+    int Speed_AB = get_speed_AB();
+   
    //gpio_set_level(CONFIG_HIN_V_GPIO, 1);
    while (1) {
+        menu_loop();
+        
        //ssd1306_clear_screen(dev_pt, false);
-        // Die Anzeige der OLED mit der richtigen Nachricht
-        Torque = get_torque(adc1_handle);
-        Voltage_IN = get_voltage_in(adc1_handle);
-        Current_U = get_current_ASC712(adc1_handle,CONFIG_I_SENSE_U_ADC);
-        Current_V = get_current_ASC712(adc1_handle,CONFIG_I_SENSE_U_ADC);
-        Current_W = get_current_ASC712(adc1_handle,CONFIG_I_SENSE_U_ADC);
-        Current_bridge = get_current_bridge(adc1_handle, CONFIG_I_SENSE_ADC);
-        if (Voltage_IN >= 20000){
-            ssd1306_display_text(dev_pt, 1, "Bridge=ON", 10, false);
-        switch (i)
-        {
-        case 0:
-            V_U_start(duty); 
-            break;
-        case 1:
-            V_W_start(duty);
-            break;
-        case 2:
-            U_W_start(duty);
-            break;
-        case 3:
-            U_V_start(duty);
-            break;
-        case 4:
-            W_V_start(duty);
-            break;
-        case 5:
-            W_U_start(duty);
-            i=0;
-            break;
+        /* Die Anzeige der OLED mit der richtigen Nachricht
+        Torque = get_torque();
+        Voltage_IN = get_voltage_in();
+        Current_U = get_current_ASC712(CONFIG_I_SENSE_U_ADC);
+        Current_V = get_current_ASC712(CONFIG_I_SENSE_V_ADC);
+        Current_W = get_current_ASC712(CONFIG_I_SENSE_W_ADC);
+        */
+       /* Hall_A_On = get_Hall(CONFIG_HALL_A_GPIO);
+        Hall_B_On = get_Hall(CONFIG_HALL_B_GPIO);
+        Hall_C_On = get_Hall(CONFIG_HALL_C_GPIO);
+        
+        
+        //Speed_indx = get_speed_index();
+        //
+        //direction = get_direction();

+    
+        RFE_Pulled = !(gpio_get_level(CONFIG_RFE_GPIO));
+
+        duty = get_enc_in_counter();
+        set_mcpwm_duty(duty);
+        //Current_bridge = get_current_bridge(adc1_handle, CONFIG_I_SENSE_ADC);
+        //gpio_set_level(CONFIG_LIN_U_GPIO,1);
+             
        
-        default:
-        pwmStopAll();
-            break;
+        snprintf(display_message, sizeof(display_message), "PWM-Param.");
+        ssd1306_display_text(dev_pt, 1, display_message, strlen(display_message), false);
+
+        snprintf(display_message, sizeof(display_message), "PWMFreq.: %ik   ", (mcpwm_freq/1000));
+        ssd1306_display_text(dev_pt, 3, display_message, 14, !(menu_counter));
+
+        snprintf(display_message, sizeof(display_message), "Duty: %.1f%%  ", get_duty());
+        ssd1306_display_text(dev_pt, 4, display_message, 14, !(menu_counter-1));
+
+        snprintf(display_message, sizeof(display_message), "DeadTime: %i  ", CONFIG_DEAD_TIME_PWM);
+        ssd1306_display_text(dev_pt, 5, display_message, 14, !(menu_counter-2));
+
+        if (RFE_Pulled){
+        snprintf(display_message, sizeof(display_message), "RFE pulled   ");
        }
-      
-        }else{
-            ssd1306_display_text(dev_pt, 1, "Bridge=OFF", 10, false);
-            pwmStopAll();
+        else{
+        snprintf(display_message, sizeof(display_message), "RFE not pulled");
        }
-        
+        ssd1306_display_text(dev_pt, 7, display_message, 14, !(menu_counter-3));
+
        snprintf(display_message, sizeof(display_message), "Torque: %lu", Torque);
        ssd1306_display_text(dev_pt, 2, display_message, 11, false);    

@@ -86,9 +120,9 @@ void app_main(void)

        snprintf(display_message, sizeof(display_message), "W: %ldmA",Current_W);
        ssd1306_display_text(dev_pt, 7, display_message, strlen(display_message), false);
-        //gpio_set_level(CONFIG_RFE_GPIO,0);
-       
-        vTaskDelay(500 / portTICK_PERIOD_MS);  // Verzögerung für die Task-Schleife
-        i++;
+        ///gpio_set_level(CONFIG_RFE_GPIO,0);
+       */
+        //vTaskDelay(100 / portTICK_PERIOD_MS);  // Verzögerung für die Task-Schleife
+        //i++;
    }
 }
--- a/main/functions.c
+++ b/main/functions.c
@@ -1,155 +1,22 @@

 #include "functions.h"
-adc_cali_handle_t cali_handle= NULL;
-void configure_GPIO_dir(const char *TAG)
-{
-    /* reset every used GPIO-pin */
-    gpio_reset_pin(CONFIG_HIN_U_GPIO);
-    gpio_reset_pin(CONFIG_HIN_V_GPIO);
-    gpio_reset_pin(CONFIG_HIN_W_GPIO);
+#include <string.h>
+#include "esp_log.h"
+#include "driver/gpio.h"
+#include "parsed_pins.h"
+#include "sdkconfig.h"

-    gpio_reset_pin(CONFIG_LIN_U_GPIO);
-    gpio_reset_pin(CONFIG_LIN_V_GPIO);
-    gpio_reset_pin(CONFIG_LIN_W_GPIO);
-
-    gpio_reset_pin(CONFIG_HALL_A_GPIO);
-    gpio_reset_pin(CONFIG_HALL_B_GPIO);
-    gpio_reset_pin(CONFIG_HALL_C_GPIO);
-
-    //gpio_reset_pin(CONFIG_IN_ENC_A_GPIO); 
-    gpio_reset_pin(CONFIG_IN_ENC_B_GPIO);
-    gpio_reset_pin(CONFIG_IN_ENC_BUT_GPIO);
-    //gpio_reset_pin(CONFIG_BUTTON_GPIO);
-
-    
-    gpio_reset_pin(CONFIG_EXT_ENC_LEFT_GPIO);
-    gpio_reset_pin(CONFIG_EXT_ENC_RIGHT_GPIO);
-    gpio_reset_pin(CONFIG_RFE_GPIO);
-
-    /* Set the GPIO as a push/pull output */
-    gpio_set_direction(CONFIG_HIN_U_GPIO, GPIO_MODE_OUTPUT);
-    gpio_set_direction(CONFIG_HIN_V_GPIO, GPIO_MODE_OUTPUT);
-    gpio_set_direction(CONFIG_HIN_W_GPIO, GPIO_MODE_OUTPUT);
-
-    gpio_set_direction(CONFIG_LIN_U_GPIO, GPIO_MODE_OUTPUT);
-    gpio_set_direction(CONFIG_LIN_V_GPIO, GPIO_MODE_OUTPUT);
-    gpio_set_direction(CONFIG_LIN_W_GPIO, GPIO_MODE_OUTPUT);
-
-    gpio_set_direction(CONFIG_HALL_A_GPIO, GPIO_MODE_INPUT);
-    gpio_set_direction(CONFIG_HALL_B_GPIO, GPIO_MODE_INPUT);
-    gpio_set_direction(CONFIG_HALL_C_GPIO, GPIO_MODE_INPUT);
-
-    //gpio_set_direction(CONFIG_IN_ENC_A_GPIO, GPIO_MODE_INPUT);
-    gpio_set_direction(CONFIG_IN_ENC_B_GPIO, GPIO_MODE_INPUT);
-    gpio_set_direction(CONFIG_IN_ENC_BUT_GPIO, GPIO_MODE_INPUT);
-    //gpio_set_direction(CONFIG_BUTTON_GPIO, GPIO_MODE_INPUT);
-
-    
-    gpio_set_direction(CONFIG_EXT_ENC_LEFT_GPIO, GPIO_MODE_INPUT);
-    gpio_set_direction(CONFIG_EXT_ENC_RIGHT_GPIO, GPIO_MODE_INPUT);
-    gpio_set_direction(CONFIG_RFE_GPIO, GPIO_MODE_OUTPUT);
-    ESP_LOGI(TAG, "GPIO dirs configured for DIY power PCB");
-}
-// Globale Variable für die Kalibrierung
-
-adc_oneshot_unit_handle_t configure_ADC1() 
-{
-    adc_oneshot_unit_handle_t adc1_handle;
-    
-    // ADC1 Initialisierung
-    adc_oneshot_unit_init_cfg_t init_config = {
-        .unit_id = ADC_UNIT_1,
-        .ulp_mode = ADC_ULP_MODE_DISABLE,
-    };
-    ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config, &adc1_handle));
-
-    // Kanal-Konfiguration
-    adc_oneshot_chan_cfg_t config = {
-        .bitwidth = ADC_BITWIDTH_DEFAULT,
-        .atten = ADC_ATTEN_DB_12,
-    };
-    ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, CONFIG_TORQUE_ADC, &config));
-    ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, CONFIG_U_SENSE_ADC, &config));
-    ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, CONFIG_I_SENSE_U_ADC, &config));
-    ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, CONFIG_I_SENSE_V_ADC, &config));
-    ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, CONFIG_I_SENSE_W_ADC, &config));
-
-    // Kalibrierung initialisieren
-    adc_cali_line_fitting_config_t cali_config = {
-        .atten = ADC_ATTEN_DB_12,
-        .bitwidth = ADC_BITWIDTH_DEFAULT,
-    };
-
-    esp_err_t ret = adc_cali_create_scheme_line_fitting(&cali_config, &cali_handle);
-    if (ret == ESP_OK) {
-        ESP_LOGI("ADC", "ADC-Kalibrierung erfolgreich initialisiert");
-    } else {
-        ESP_LOGW("ADC", "ADC-Kalibrierung nicht möglich, Rohwerte werden verwendet");
-        cali_handle = NULL;  // Keine Kalibrierung verfügbar
-    }
-
-    return adc1_handle;
-}
-
-uint32_t read_voltage(adc_oneshot_unit_handle_t adc1_handle, int channel) {
-    int adc_raw = 0;
-    int voltage_calibrated = 0;  // Verwende int für die Kalibrierungsfunktion
-    uint32_t voltage = 0;         // Konvertiere später zu uint32_t
-
-    // ADC-Rohwert lesen
-    ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, channel, &adc_raw));
-
-    // Kalibrierung anwenden, falls verfügbar
-    if (cali_handle) {
-        ESP_ERROR_CHECK(adc_cali_raw_to_voltage(cali_handle, adc_raw, &voltage_calibrated));
-        voltage = (uint32_t) voltage_calibrated;  // Konvertiere zu uint32_t
-    } else {
-        voltage = adc_raw;  // Fallback auf Rohwert
-    }
-
-    return voltage;
-}
-// Funktion zur Umrechnung in spezifische Spannung
-uint32_t get_voltage_in(adc_oneshot_unit_handle_t adc1_handle)
-{
-    uint32_t adc_voltage = read_voltage(adc1_handle, CONFIG_U_SENSE_ADC);
-    ESP_LOGI("ADC", "ADC%d:voltage:%ld", CONFIG_U_SENSE_ADC, adc_voltage);
-    // Beispielhafte Umrechnung; Wert an eigene Anwendung anpassen
-    uint32_t voltage_in = adc_voltage / 0.0909;
-    return voltage_in;
-}
-
-int32_t get_current_ASC712(adc_oneshot_unit_handle_t adc1_handle, int ADC_pin)
-{
-    int32_t adc_voltage = read_voltage(adc1_handle,ADC_pin);
-    int32_t current = (adc_voltage -2500)*5.405;
-    ESP_LOGI("ADC", "ADC%d:voltage:%ldcurrent%ld", ADC_pin, adc_voltage, current);
-    return current;
-}
-
-uint32_t get_torque(adc_oneshot_unit_handle_t adc1_handle)
-{
-    uint32_t adc_voltage =read_voltage(adc1_handle,CONFIG_TORQUE_ADC);
-    uint32_t torque = adc_voltage/33;
-
-    return torque;
-}
-int32_t get_current_bridge(adc_oneshot_unit_handle_t adc1_handle, int ADC_pin){
-    int32_t adc_voltage = read_voltage(adc1_handle,ADC_pin);
-     ESP_LOGI("CurrentBridge", "ADC:%ld",adc_voltage);
-    int32_t current = ((adc_voltage- 142)/6.77)/0.007;
-    return current;
-}
-
-
-SSD1306_t *configure_OLED(const char *TAG)
+/*############################################*/
+/*############## Display-Setup ###############*/
+/*############################################*/
+SSD1306_t *configure_OLED_old()
 {
    static SSD1306_t dev;
 	//int center, top, bottom;
 	//char lineChar[20];

    i2c_master_init(&dev, CONFIG_SDA_GPIO, CONFIG_SCL_GPIO, CONFIG_RESET_GPIO);
-    ESP_LOGI(TAG, "Panel is 128x64");
+    ESP_LOGI("OLED", "Panel is 128x64");
 	ssd1306_init(&dev, 128, 64);
    ssd1306_clear_screen(&dev, false);
 	ssd1306_contrast(&dev, 0xff);
@@ -159,146 +26,59 @@ SSD1306_t *configure_OLED(const char *TAG)
    return &dev;
 }

-void set_PWM_Timer()
-{
-    ledc_timer_config_t ledc_timer = {
-        .speed_mode         = LEDC_HIGH_SPEED_MODE,
-        .timer_num          = LEDC_TIMER_0,
-        .duty_resolution    = LEDC_TIMER_10_BIT,
-        .freq_hz            = CONFIG_FREQ_PWM_HIN,
-        .clk_cfg            = LEDC_AUTO_CLK
-    };
-    esp_err_t err = ledc_timer_config(&ledc_timer);
-    if (err != ESP_OK) {
-        printf("Fehler beim Konfigurieren des LEDC-Timers: %s\n", esp_err_to_name(err));
-        return;
+
+
+/*############################################*/
+/*############ Blockkommutierung #############*/
+/*############################################*/
+bool get_Hall(int HallSensorGPIO){
+    char* TAG="";
+
+    if(HallSensorGPIO == CONFIG_HALL_A_GPIO){
+        TAG = "HALL_A";
+    }else if(HallSensorGPIO == CONFIG_HALL_B_GPIO){
+        TAG = "HALL_B";
    }
-   
-}
-void set_PWM()
-{
-        ledc_channel_config_t ledc_channel_HIN_U = 
-    {
-        .speed_mode     = LEDC_HIGH_SPEED_MODE,    // Gleicher Modus wie beim Timer
-        .channel        = LEDC_CHANNEL_0,          // Kanal 0 verwenden
-        .timer_sel      = LEDC_TIMER_0,            // Timer 0 zuweisen
-        .intr_type      = LEDC_INTR_DISABLE,       // Keine Interrupts
-        .gpio_num       = CONFIG_HIN_U_GPIO,         
-        .duty           = 0,                     //
-        .hpoint         = 0                        // Start des PWM-Signals
-    };
-    ledc_channel_config(&ledc_channel_HIN_U);   // Kanal konfigurieren
-        ledc_channel_config_t ledc_channel_HIN_V = 
-    {
-        .speed_mode     = LEDC_HIGH_SPEED_MODE,    // Gleicher Modus wie beim Timer
-        .channel        = LEDC_CHANNEL_1,          // Kanal 0 verwenden
-        .timer_sel      = LEDC_TIMER_0,            // Timer 0 zuweisen
-        .intr_type      = LEDC_INTR_DISABLE,       // Keine Interrupts
-        .gpio_num       = CONFIG_HIN_V_GPIO,         
-        .duty           = 0,                     // 
-        .hpoint         = 0                        // Start des PWM-Signals
-    };
-    ledc_channel_config(&ledc_channel_HIN_V);   // Kanal konfigurieren
-        ledc_channel_config_t ledc_channel_HIN_W = 
-    {
-        .speed_mode     = LEDC_HIGH_SPEED_MODE,    // Gleicher Modus wie beim Timer
-        .channel        = LEDC_CHANNEL_2,          // Kanal 0 verwenden
-        .timer_sel      = LEDC_TIMER_0,            // Timer 0 zuweisen
-        .intr_type      = LEDC_INTR_DISABLE,       // Keine Interrupts
-        .gpio_num       = CONFIG_HIN_W_GPIO,         
-        .duty           = 0,                     // 
-        .hpoint         = 0                        // Start des PWM-Signals
-    };
-    ledc_channel_config(&ledc_channel_HIN_W);   // Kanal konfigurieren
-}
-void pwmStart(int PWM_CH, int Duty){
-    ledc_set_duty(LEDC_HIGH_SPEED_MODE,PWM_CH, Duty);
-    ledc_update_duty(LEDC_HIGH_SPEED_MODE,PWM_CH);
-}
-
-void pwmStop(int PWM_CH){
-    ledc_stop(LEDC_HIGH_SPEED_MODE, PWM_CH, 0);
-}
-void pwmStopAll(){
-    ledc_stop(LEDC_HIGH_SPEED_MODE, HIN_U_CH, 0);
-    ledc_stop(LEDC_HIGH_SPEED_MODE, HIN_V_CH, 0);
-    ledc_stop(LEDC_HIGH_SPEED_MODE, HIN_W_CH, 0);
-    gpio_set_level(CONFIG_LIN_U_GPIO, 0);      
-    gpio_set_level(CONFIG_LIN_V_GPIO, 0);      
-    gpio_set_level(CONFIG_LIN_W_GPIO, 0);      
-}
-
-
-void U_V_start(int duty)
-{   
-    //HIN_V und LIN_U abschalten
-    pwmStop(HIN_V_CH);
-    gpio_set_level(CONFIG_LIN_U_GPIO, 0);
-    //HIN_U und LIN_V einschalten     
-    pwmStart(HIN_U_CH, duty);
-    gpio_set_level(CONFIG_LIN_V_GPIO, 1);      
-}
-void V_U_start(int duty)
-{
-    //HIN_U und LIN_V abschalten
-    pwmStop(HIN_U_CH);
-    gpio_set_level(CONFIG_LIN_V_GPIO, 0);
-    //HIN_V und LIN_U einschalten     
-    pwmStart(HIN_V_CH, duty);
-    gpio_set_level(CONFIG_LIN_U_GPIO, 1);  
-}
-void U_W_start(int duty)
-{
-    //HIN_W und LIN_U abschalten
-    pwmStop(HIN_W_CH);
-    gpio_set_level(CONFIG_LIN_U_GPIO, 0);
-    //HIN_U und LIN_V einschalten     
-    pwmStart(HIN_W_CH, duty);
-    gpio_set_level(CONFIG_LIN_V_GPIO, 1);      
-}
-void W_U_start(int duty)
-{
-    //HIN_U und LIN_W abschalten
-    pwmStop(HIN_U_CH);
-    gpio_set_level(CONFIG_LIN_W_GPIO, 0);
-    //HIN_U und LIN_V einschalten     
-    pwmStart(HIN_W_CH, duty);
-    gpio_set_level(CONFIG_LIN_U_GPIO, 1);     
-}
-void V_W_start(int duty)
-{
-    //HIN_U und LIN_W abschalten
-    pwmStop(HIN_W_CH);
-    gpio_set_level(CONFIG_LIN_V_GPIO, 0);
-    //HIN_U und LIN_V einschalten     
-    pwmStart(HIN_V_CH, duty);
-    gpio_set_level(CONFIG_LIN_W_GPIO, 1);     
-}
-
-void W_V_start(int duty)
-{
-    //HIN_U und LIN_W abschalten
-    pwmStop(HIN_V_CH);
-    gpio_set_level(CONFIG_LIN_W_GPIO, 0);
-    //HIN_U und LIN_V einschalten     
-    pwmStart(HIN_W_CH, duty);
-    gpio_set_level(CONFIG_LIN_V_GPIO, 1);     
-}
-
-
-
-
-//Ausgelagert in Preprocessing python program, generate_pins_header.py
-void parse_3pins(const char *TAG, const char *pin_string, int *pins) {
-    int pin_count = 0;  // Jetzt ein Integer, keine Null-Pointer-Dereferenzierung
-    char *token;
-    char *pin_list = strdup(pin_string);  // Kopie der String-Option
-
-    token = strtok(pin_list, ",");
-    while (token != NULL && pin_count < 3) { // maximal 3 Pins
-        pins[pin_count] = atoi(token);   // Umwandlung in Integer
-        pin_count++;
-        token = strtok(NULL, ",");
+    else if(HallSensorGPIO == CONFIG_HALL_C_GPIO){
+        TAG = "HALL_C";
+    }else{
+        TAG = "Undefinded";
+    }
+
+    bool level = gpio_get_level(HallSensorGPIO);
+
+    if(level){
+    ESP_LOGI(TAG, "HIGH");
+    }else{
+    ESP_LOGI(TAG,"LOW");
+    }
+    return level;
+}
+HallState get_Hall_Combi(){
+
+    int hall_A = gpio_get_level(CONFIG_HALL_A_GPIO);
+    int hall_B = gpio_get_level(CONFIG_HALL_B_GPIO);
+    int hall_C = gpio_get_level(CONFIG_HALL_C_GPIO);
+    
+    // Wandelt die GPIO-Levels in einen binären Wert um
+    return (HallState)((hall_A << 2) | (hall_B << 1) | hall_C);
+
+}
+OutCombis get_output_combination(HallState hall_state) {
+    switch (hall_state) {
+        case HALL_001:
+            return OUT_U_W;
+        case HALL_010:
+            return OUT_W_V;
+        case HALL_011:
+            return OUT_U_V;
+        case HALL_100:
+            return OUT_V_U;
+        case HALL_101:
+            return OUT_V_W;
+        case HALL_110:
+            return OUT_W_U;
+        default:
+            return COMBI_COUNT; // Ungültiger Zustand
    }
-    free(pin_list);  // Speicher freigeben
 }
--- a/main/idf_component.yml
+++ b/main/idf_component.yml
--- a/main/include/ADC.h
+++ b/main/include/ADC.h
@@ -0,0 +1,9 @@
+#ifndef GPIO_H
+#define GPIO_H
+#include <stdint.h>
+void configure_ADC1();
+uint32_t get_voltage_in();
+uint32_t get_torque();
+int32_t get_current_ASC712(int ADC_pin);
+int32_t get_current_bridge(int ADC_pin);
+#endif
--- a/main/include/GPIO.h
+++ b/main/include/GPIO.h
@@ -0,0 +1,19 @@
+#ifndef GPIO2_H
+#define GPIO2_H
+#include <stdbool.h>
+#include <stdint.h>
+
+//configure GPIOs
+void configure_GPIO_dir();
+
+//functions for external Encoder
+int get_direction();
+float get_speed_index();
+float get_speed_AB();
+
+//functions for internal Encoder
+//int16_t get_enc_in_counter();
+//void set_enc_in_counter(int16_t inital_value);
+//bool get_enc_in_but();
+
+#endif
--- a/main/include/functions.h
+++ b/main/include/functions.h
@@ -1,46 +1,24 @@
 // functions.h
-#include <stdio.h>
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "driver/gpio.h"
-#include "esp_log.h"
-#include "sdkconfig.h"
-#include "driver/ledc.h"
-#include <string.h>
-#include <stdlib.h>
-#include "parsed_pins.h"
-#include "esp_adc/adc_cali.h"
-#include "esp_adc/adc_cali_scheme.h"
+#ifndef FUNCTIONS_H
+#define FUNCTIONS_H
+
+
 #include "ssd1306.h"
-#include "esp_adc/adc_oneshot.h"
-#define HIN_U_CH 0
-#define HIN_V_CH 1
-#define HIN_W_CH 2
+#include <stdbool.h>
+#include "mcpwm.h"
+typedef enum {
+    HALL_000 = 0b000, // Ungültiger Zustand
+    HALL_001 = 0b001,
+    HALL_010 = 0b010,
+    HALL_011 = 0b011,
+    HALL_100 = 0b100,
+    HALL_101 = 0b101,
+    HALL_110 = 0b110,
+    HALL_111 = 0b111  // Ungültiger Zustand
+} HallState;

-#ifndef MY_COMPONENT_H
-#define MY_COMPONENT_H
-extern adc_cali_handle_t cali_handle;
-
-// Deklaration der Funktion, die in my_component.c implementiert ist
-void configure_GPIO_dir(const char *TAG);
-adc_oneshot_unit_handle_t configure_ADC1();
-uint32_t read_voltage(adc_oneshot_unit_handle_t adc1_handle, int channel);
-uint32_t get_voltage_in(adc_oneshot_unit_handle_t adc1_handle);
-uint32_t get_torque(adc_oneshot_unit_handle_t adc1_handle);
-int32_t get_current_ASC712(adc_oneshot_unit_handle_t adc1_handle, int ADC_pin);
-int32_t get_current_bridge(adc_oneshot_unit_handle_t adc1_handle, int ADC_pin);
-void set_PWM_Timer();
-void set_PWM();
-void pwmStart(int PWM_CH,int Duty);
-void pwmStop(int PWM_CH);
-void pwmStopAll();
-void U_V_start(int duty);
-void V_U_start(int duty);
-void U_W_start(int duty);
-void W_U_start(int duty);
-void V_W_start(int duty);
-void W_V_start(int duty);
-void parse_3pins(const char *TAG, const char *pin_string, int *pins);
-SSD1306_t *configure_OLED(const char *TAG);
-
-#endif // MY_COMPONENT_H
+bool get_Hall(int HallSensorGPIO);
+SSD1306_t *configure_OLED_old();
+HallState get_Hall_Combi();
+OutCombis get_output_combination(HallState hall_state);
+#endif
--- a/main/include/mcpwm.h
+++ b/main/include/mcpwm.h
@@ -0,0 +1,34 @@
+#ifndef MCPWM_H
+#define MCPWM_H
+#include "hal/mcpwm_types.h"
+#include "driver/mcpwm_prelude.h"
+typedef enum {
+    PHASE_U,
+    PHASE_V,
+    PHASE_W
+} Phase;
+
+typedef enum {
+    OUT_U_V,
+    OUT_U_W,
+    OUT_V_W,
+    OUT_V_U,
+    OUT_W_U,
+    OUT_W_V,
+    OUT_U,
+    OUT_V,
+    OUT_W,
+    OUT_UVW,
+    COMBI_COUNT
+}OutCombis;
+
+void mcpwm_init();
+void stop_mcpwm_output();
+void configure_mcpwm_output(OutCombis out_combi);
+esp_err_t start_mcpwm_output();
+esp_err_t set_mcpwm_duty(float duty);
+esp_err_t set_mcpwm_frequency(uint32_t frequency);
+void get_comps(mcpwm_cmpr_handle_t comps[3]);
+float get_duty();
+uint32_t get_frequency();
+#endif
--- a/main/include/menu.h
+++ b/main/include/menu.h
@@ -0,0 +1,13 @@
+//Zum Erstellen der gesamten Benutzeroberfläche. Samt einlesen des Inkrementalgebers, und Übergabe von Parametern an "Backend"
+#ifndef MENU_H
+#define MENU_H
+
+
+
+extern const char *OutCombi_names[];
+
+void configure_OLED();
+void config_internal_Encoder();
+void menu_loop();
+
+#endif
--- a/main/mcpwm.c
+++ b/main/mcpwm.c
@@ -0,0 +1,404 @@
+#include "mcpwm.h"
+#include "esp_timer.h"
+#include "esp_log.h"
+#include "math.h"
+#include "parsed_pins.h"
+#include "sdkconfig.h"
+
+//create Timers
+static mcpwm_timer_handle_t timer_U = NULL;
+static mcpwm_timer_handle_t timer_V = NULL;
+static mcpwm_timer_handle_t timer_W = NULL;
+//create Operators
+static mcpwm_oper_handle_t operator_U = NULL;
+static mcpwm_oper_handle_t operator_V = NULL;
+static mcpwm_oper_handle_t operator_W = NULL; 
+//create PWM-Signals
+static mcpwm_cmpr_handle_t comperator_U = NULL;
+static mcpwm_cmpr_handle_t comperator_V = NULL;
+static mcpwm_cmpr_handle_t comperator_W = NULL;
+//create generators for every pin
+static mcpwm_gen_handle_t generator_U_HIN = NULL;
+static mcpwm_gen_handle_t generator_V_HIN = NULL;
+static mcpwm_gen_handle_t generator_W_HIN = NULL;
+static mcpwm_gen_handle_t generator_U_LIN = NULL;
+static mcpwm_gen_handle_t generator_V_LIN = NULL;
+static mcpwm_gen_handle_t generator_W_LIN = NULL;
+
+typedef enum {
+    Highside,
+    Lowside,
+    OFF
+} Phase_state;
+
+typedef struct {
+    Phase phase;
+    Phase_state state;
+} PhaseConfiguration;
+PhaseConfiguration phase_configurations[3] = {
+            { PHASE_U, Highside },
+            { PHASE_V, Lowside },
+            { PHASE_W, OFF }
+            };
+uint32_t mcpwm_frequency = CONFIG_FREQ_PWM;
+uint32_t periode_ticks = CONFIG_TIMER_BASE_FREQ/CONFIG_FREQ_PWM;
+float duty = CONFIG_DUTY_PWM;
+
+/*############################################*/
+/*############### MCPWM-Setup ################*/
+/*############################################*/
+
+static void conf_gens(){
+            
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_U_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_U, MCPWM_GEN_ACTION_LOW)));
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_U_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_U, MCPWM_GEN_ACTION_HIGH)));
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_U_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_U, MCPWM_GEN_ACTION_LOW)));
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_U_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_U, MCPWM_GEN_ACTION_HIGH)));
+        
+       
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_V_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_V, MCPWM_GEN_ACTION_LOW)));
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_V_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_V, MCPWM_GEN_ACTION_HIGH)));
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_V_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_V, MCPWM_GEN_ACTION_LOW)));
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_V_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_V, MCPWM_GEN_ACTION_HIGH)));
+        
+
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_W_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_W, MCPWM_GEN_ACTION_LOW)));
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_W_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_W, MCPWM_GEN_ACTION_HIGH)));
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_W_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_W, MCPWM_GEN_ACTION_LOW)));
+        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_W_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comperator_W, MCPWM_GEN_ACTION_HIGH)));
+        
+    
+}
+esp_err_t set_mcpwm_duty(float new_duty){
+    if (timer_U == NULL) {
+        return ESP_ERR_INVALID_STATE; // Fehlerbehandlung, wenn mcpwm nicht initialisiert wurde
+    }
+    duty = new_duty;
+    ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_U, (periode_ticks*duty/100)/2));
+    ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_V, (periode_ticks*duty/100)/2));
+    ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_W, (periode_ticks*duty/100)/2));
+    return ESP_OK;
+}
+
+void stop_mcpwm_output(){
+    ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_HIN, 0,true));
+    ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_LIN, 1,true));
+    ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_HIN, 0,true));
+    ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_LIN, 1,true));
+    ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_HIN, 0,true));
+    ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_LIN, 1,true));
+}
+void mcpwm_init(){
+   ESP_LOGI("MCPWM","started");
+   double tick_period_ns = 1e9 / CONFIG_TIMER_BASE_FREQ; // Zeit pro Tick in ns
+   uint32_t dead_time_ticks = (uint32_t)round(CONFIG_DEAD_TIME_PWM / tick_period_ns);
+
+//creating timer configs and linking them with the timers
+    mcpwm_timer_config_t timer_config = 
+    {
+        .group_id = 0,
+        .clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
+        .resolution_hz = CONFIG_TIMER_BASE_FREQ, //40MHz
+        .period_ticks = periode_ticks,      //40MHz/2KHz = 20KHz
+        .count_mode = MCPWM_TIMER_COUNT_MODE_UP_DOWN,
+        .flags ={
+            .update_period_on_empty = 1,
+        }
+    };
+    ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer_U));
+    ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer_V));
+    ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer_W));
+
+    ESP_ERROR_CHECK(mcpwm_timer_enable(timer_U));
+    ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer_U,MCPWM_TIMER_START_NO_STOP));
+    ESP_ERROR_CHECK(mcpwm_timer_enable(timer_V));
+    ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer_V,MCPWM_TIMER_START_NO_STOP));
+    ESP_ERROR_CHECK(mcpwm_timer_enable(timer_W));
+    ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer_W,MCPWM_TIMER_START_NO_STOP));
+
+
+//set Timer_U as an sync_signal
+    mcpwm_sync_handle_t sync_signal = NULL;
+    mcpwm_timer_sync_src_config_t sync_src_config = 
+    {
+        .flags.propagate_input_sync = SOC_FLASH_ENCRYPTED_XTS_AES_BLOCK_MAX,
+        .timer_event = MCPWM_TIMER_EVENT_EMPTY,
+
+    };
+    ESP_ERROR_CHECK(mcpwm_new_timer_sync_src(timer_U,&sync_src_config, &sync_signal));
+//set Timer_V as an Slave of Timer_U with another phase 
+    mcpwm_timer_sync_phase_config_t sync_phase_V_config = 
+    {
+        .sync_src = sync_signal,
+        .count_value = periode_ticks/6, //120 degree delayed
+    };
+    ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timer_V,&sync_phase_V_config));
+//set Timer_W as an Slave of Timer_U with another phase 
+    mcpwm_timer_sync_phase_config_t sync_phase_W_config = 
+    {
+        .sync_src = sync_signal,
+        .count_value = periode_ticks*2/6, //240 degree delayed
+    };
+    ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timer_W,&sync_phase_W_config));    
+
+
+
+    //Operator for Timer_U
+    mcpwm_operator_config_t operator_config = 
+    {
+        .group_id=0,
+    };
+    ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config,&operator_U));
+    ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config,&operator_V));
+    ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config,&operator_W));
+    
+    //connect PWM-Signals with Timers
+    ESP_ERROR_CHECK(mcpwm_operator_connect_timer(operator_U, timer_U));
+    ESP_ERROR_CHECK(mcpwm_operator_connect_timer(operator_V, timer_V));
+    ESP_ERROR_CHECK(mcpwm_operator_connect_timer(operator_W, timer_W));
+
+    
+
+    mcpwm_comparator_config_t comparator_config = {
+        .flags.update_cmp_on_tez = true,
+    };
+    ESP_ERROR_CHECK(mcpwm_new_comparator(operator_U, &comparator_config,&comperator_U));
+    ESP_ERROR_CHECK(mcpwm_new_comparator(operator_V, &comparator_config,&comperator_V));
+    ESP_ERROR_CHECK(mcpwm_new_comparator(operator_W, &comparator_config,&comperator_W));
+
+
+    mcpwm_gen_handle_t *mcpwm_gens[] ={&generator_U_HIN,&generator_U_LIN,&generator_V_HIN,&generator_V_LIN,&generator_W_HIN,&generator_W_LIN};
+//HIN Pins
+    //HIN_U
+    mcpwm_generator_config_t generator_U_HIN_config ={
+        .gen_gpio_num = CONFIG_HIN_U_GPIO,
+        .flags.pull_down = 1,
+    };
+    ESP_ERROR_CHECK(mcpwm_new_generator(operator_U, &generator_U_HIN_config, &generator_U_HIN));
+
+    //HIN_V
+    mcpwm_generator_config_t generator_V_HIN_config ={
+        .gen_gpio_num = CONFIG_HIN_V_GPIO,
+        .flags.pull_down = 1,
+    };
+    ESP_ERROR_CHECK(mcpwm_new_generator(operator_V, &generator_V_HIN_config, &generator_V_HIN));
+
+    //HIN_W
+    mcpwm_generator_config_t generator_W_HIN_config ={
+        .gen_gpio_num = CONFIG_HIN_W_GPIO,
+        .flags.pull_down = 1,
+    };
+    ESP_ERROR_CHECK(mcpwm_new_generator(operator_W, &generator_W_HIN_config, &generator_W_HIN));
+
+    //LIN_U
+    mcpwm_generator_config_t generator_U_LIN_config ={
+        .gen_gpio_num = CONFIG_LIN_U_GPIO,
+        .flags.invert_pwm = 1,
+        .flags.pull_down = 1,
+    };
+    ESP_ERROR_CHECK(mcpwm_new_generator(operator_U, &generator_U_LIN_config, &generator_U_LIN));
+
+    //LIN_V
+    mcpwm_generator_config_t generator_V_LIN_config ={
+        .gen_gpio_num = CONFIG_LIN_V_GPIO,
+        .flags.invert_pwm = 1,
+        .flags.pull_down = 1,
+    };
+    ESP_ERROR_CHECK(mcpwm_new_generator(operator_V, &generator_V_LIN_config, &generator_V_LIN));
+
+     //LIN_W
+    mcpwm_generator_config_t generator_W_LIN_config ={
+        .gen_gpio_num = CONFIG_LIN_W_GPIO,
+        .flags.invert_pwm = 1,
+        .flags.pull_down = 1,
+    };
+    ESP_ERROR_CHECK(mcpwm_new_generator(operator_W, &generator_W_LIN_config, &generator_W_LIN));
+
+    //set Dead times
+    mcpwm_dead_time_config_t deadtime_config = {
+        .posedge_delay_ticks = dead_time_ticks,
+        .negedge_delay_ticks = 0,
+    };
+
+    ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_U_HIN, generator_U_HIN,&deadtime_config));
+    ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_V_HIN, generator_V_HIN,&deadtime_config));
+    ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_HIN, generator_W_HIN,&deadtime_config));
+    deadtime_config.posedge_delay_ticks = 0;
+    deadtime_config.negedge_delay_ticks = dead_time_ticks;
+    ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_U_HIN, generator_U_LIN, &deadtime_config));
+    ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_V_HIN, generator_V_LIN, &deadtime_config));
+    ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_HIN, generator_W_LIN, &deadtime_config));
+
+    conf_gens();
+    stop_mcpwm_output();
+    set_mcpwm_duty(duty);
+    }
+
+static void set_lowside(Phase lowside){
+    switch (lowside){
+        case PHASE_U:
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_HIN, 0,true));
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_LIN, 0,true));
+        break;
+        case PHASE_V:
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_HIN, 0,true));
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_LIN, 0,true));
+        break;
+        case PHASE_W:
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_HIN, 0,true));
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_LIN, 0,true));
+        break;
+
+        default:
+            printf("Invalid phase selection\n");
+            break;
+    }
+}
+static void set_highside(Phase highside){
+    switch (highside){
+        
+        case PHASE_U:
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_HIN, -1,true));
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_LIN, -1,true));
+        break;
+        case PHASE_V:
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_HIN, -1,true));
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_LIN, -1,true));
+        break;
+        case PHASE_W:
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_HIN, -1,true));
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_LIN, -1,true));
+        break;
+
+        default:
+            printf("Invalid phase selection\n");
+            break;
+    }
+}
+static void set_inactive(Phase inactive){
+    switch (inactive){
+        case PHASE_U:
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_HIN, 0,true));
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_U_LIN, 1,true));
+        break;
+        case PHASE_V:
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_HIN, 0,true));
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_V_LIN, 1,true));
+        break;
+        case PHASE_W:
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_HIN, 0,true));
+        ESP_ERROR_CHECK(mcpwm_generator_set_force_level(generator_W_LIN, 1,true));
+        break;
+
+        default:
+            printf("Invalid phase selection\n");
+            break;
+    }
+}
+
+esp_err_t start_mcpwm_output(){
+    if (timer_U == NULL) {
+        return ESP_ERR_INVALID_STATE; // Fehlerbehandlung, wenn mcpwm nicht initialisiert wurde
+    }
+    for (int i = 0; i < 3; i++) {
+        switch (phase_configurations[i].state) {
+            case Highside:
+                set_highside(phase_configurations[i].phase);
+                break;
+            case Lowside:
+                set_lowside(phase_configurations[i].phase);
+                break;
+            case OFF:
+                set_inactive(phase_configurations[i].phase);
+                break;
+        }
+    
+    }
+    return ESP_OK;
+}
+void configure_mcpwm_output(OutCombis out_combi) {
+    switch (out_combi) {
+        case OUT_U_V:
+            phase_configurations[0].state = Highside;
+            phase_configurations[1].state = Lowside;
+            phase_configurations[2].state = OFF;
+            break;
+        case OUT_U_W:
+            phase_configurations[0].state = Highside;
+            phase_configurations[1].state = OFF;
+            phase_configurations[2].state = Lowside;
+            break;
+        case OUT_V_W:
+            phase_configurations[0].state = OFF;
+            phase_configurations[1].state = Highside;
+            phase_configurations[2].state = Lowside;
+            break;
+        case OUT_V_U:
+            phase_configurations[0].state = Lowside;
+            phase_configurations[1].state = Highside;
+            phase_configurations[2].state = OFF;
+            break;
+        case OUT_W_U:
+            phase_configurations[0].state = Lowside;
+            phase_configurations[1].state = OFF;
+            phase_configurations[2].state = Highside;
+            break;
+        case OUT_W_V:
+            phase_configurations[0].state = OFF;
+            phase_configurations[1].state = Lowside;
+            phase_configurations[2].state = Highside;
+            break;
+        case OUT_U:
+            phase_configurations[0].state = Highside;
+            phase_configurations[1].state = OFF;
+            phase_configurations[2].state = OFF;
+            break;
+        case OUT_V:
+            phase_configurations[0].state = OFF;
+            phase_configurations[1].state = Highside;
+            phase_configurations[2].state = OFF;
+            break;
+        case OUT_W:
+            phase_configurations[0].state = OFF;
+            phase_configurations[1].state = OFF;
+            phase_configurations[2].state = Highside;
+            break;
+        case OUT_UVW:
+            phase_configurations[0].state = Highside;
+            phase_configurations[1].state = Highside;
+            phase_configurations[2].state = Highside;
+        default:
+            break;
+    }
+}
+
+
+esp_err_t set_mcpwm_frequency(uint32_t frequency_new){
+
+    if (timer_U == NULL) {
+        return ESP_ERR_INVALID_STATE; // Fehlerbehandlung, wenn mcpwm nicht initialisiert wurde
+    }
+    periode_ticks = CONFIG_TIMER_BASE_FREQ/frequency_new;
+    mcpwm_frequency = frequency_new;
+    // Neue Konfiguration anwenden
+    ESP_ERROR_CHECK(mcpwm_timer_set_period(timer_U, periode_ticks));
+    ESP_ERROR_CHECK(mcpwm_timer_set_period(timer_V, periode_ticks));
+    ESP_ERROR_CHECK(mcpwm_timer_set_period(timer_W, periode_ticks));
+
+    // dutycycle an neue Frequenz anpassen
+    set_mcpwm_duty(duty);
+
+    return ESP_OK;
+}
+
+void get_comps(mcpwm_cmpr_handle_t comps[3]) {
+    comps[0] = comperator_U;
+    comps[1] = comperator_V;
+    comps[2] = comperator_W;
+}
+float get_duty() {
+    return duty;
+}
+uint32_t get_frequency(){
+    return mcpwm_frequency;
+}
--- a/main/menu.c
+++ b/main/menu.c
@@ -0,0 +1,406 @@
+#include <stdio.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+#include "esp_log.h"
+#include "ssd1306.h"
+#include "sdkconfig.h"
+#include "parsed_pins.h"
+#include "freertos/task.h"
+#include "freertos/FreeRTOS.h"
+#include "driver/gpio.h"
+#include "GPIO.h"
+#include "menu.h"
+#include "esp_timer.h"
+#include "mcpwm.h"
+#include "ADC.h"
+#include "functions.h"
+
+
+
+/*############################################*/
+/*############## Display-Setup ###############*/
+/*############################################*/
+static SSD1306_t dev;
+void configure_OLED()
+{
+    i2c_master_init(&dev, CONFIG_SDA_GPIO, CONFIG_SCL_GPIO, -1);
+    ESP_LOGI("OLED", "Panel is 128x64");
+	ssd1306_init(&dev, 128, 64);
+    ssd1306_clear_screen(&dev, false);
+	ssd1306_contrast(&dev, 0xff);
+	ssd1306_display_text_x3(&dev, 0, "Power", 5, false);
+    ssd1306_display_text_x3(&dev, 4, " PCB", 4, false);
+   
+    vTaskDelay(2000 / portTICK_PERIOD_MS);
+    ssd1306_clear_screen(&dev, false);
+}
+
+/*############################################*/
+/*############ Internal Encoder ##############*/
+/*############################################*/
+//Variablen
+static volatile int enc_in_counter = 0;
+static volatile int64_t last_interrupt_time = 0;
+static volatile uint16_t last_interrupt_time_but = 0;
+static volatile bool enc_in_button_flag = false;
+static volatile uint8_t last_state = 0;
+
+static void IRAM_ATTR enc_in_isr_handler(void *arg) {
+    static uint64_t last_interrupt_time = 0;
+    
+    // Aktueller Zustand der Pins lesen
+    uint8_t current_state = (gpio_get_level(CONFIG_IN_ENC_A_GPIO) << 1) | gpio_get_level(CONFIG_IN_ENC_B_GPIO);
+    uint64_t interrupt_time = esp_timer_get_time();
+
+    // Zustandswechsel-Logik (FSM) ohne starre Entprellzeit
+    if (current_state != last_state) { 
+        // Nur wenn der Wechsel signifikant verzögert ist (gute Flanke)
+        if ((interrupt_time - last_interrupt_time) > CONFIG_IN_ENCODER_DEBOUNCE_TIME) {
+            if ((last_state == 0b01 && current_state == 0b11) || 
+                (last_state == 0b10 && current_state == 0b00)) {
+                enc_in_counter++;  // Vorwärtsdrehen
+            } else if ((last_state == 0b10 && current_state == 0b11) || 
+                       (last_state == 0b01 && current_state == 0b00)) {
+                enc_in_counter--;  // Rückwärtsdrehen
+            }
+            last_state = current_state;  // Zustand aktualisieren
+            last_interrupt_time = interrupt_time;
+        }
+    }
+
+}
+
+static void IRAM_ATTR enc_in_but_isr_handler(void *arg) {
+   uint64_t interrupt_time = esp_timer_get_time();
+    
+    // Entprellung: Verhindert die Erfassung von Störungen aufgrund von Prellung
+    if (interrupt_time - last_interrupt_time_but > (CONFIG_IN_ENCODER_DEBOUNCE_TIME*1000)) {  //  Entprellungszeit
+        last_interrupt_time_but = interrupt_time; // Entprellzeit zurücksetzen
+        if (gpio_get_level(CONFIG_IN_ENC_BUT_GPIO)) {
+            enc_in_button_flag = true;
+        }
+
+    }
+}
+
+void config_internal_Encoder(){
+    ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_IN_ENC_A_GPIO, enc_in_isr_handler, NULL));
+    ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_IN_ENC_B_GPIO, enc_in_isr_handler, NULL));
+    ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_IN_ENC_BUT_GPIO, enc_in_but_isr_handler, NULL));
+}
+/*############################################*/
+/*############### Menu-Setup #################*/
+/*############################################*/
+typedef enum {
+    MAIN_MENU,
+    CONFIGURE_MENU,
+    MORE_INFO_MENU
+} MenuState;
+
+typedef enum {
+    MCPWM_MODE,
+    BLDC_MODE,
+    DC_BRUSHED_MODE,
+    MODE_COUNT
+}OperationMode;
+
+const char *mode_names[] = {
+        "MCPWM   ",
+        "BLDC    ",
+        "DC Brush"
+    };
+
+ const char *OutCombi_names[]= {
+        "+U -V ",
+        "+U -W ",
+        "+V -W ",
+        "+V -U ",
+        "+W -U ",
+        "+W -V ",
+        " +U   ",
+        " +V   ",
+        " +W   ",
+        "+U+V+W",
+        "ERROR "
+    };
+
+typedef enum {
+    STATE_ACTIVE,
+    STATE_DEAKTIVE,
+    STATE_UV,
+    STATE_OC
+} BridgeState;
+
+const char *state_names[] = {
+        "Active   ",
+        "Deaktive ",
+        "UV       ",
+        "RFE (OC) "
+    };
+
+
+//Globalevariablen
+volatile MenuState current_menu = MAIN_MENU;
+volatile OperationMode current_mode = MCPWM_MODE;
+volatile BridgeState current_bridge_state = STATE_DEAKTIVE;
+volatile OutCombis current_out_combi = OUT_U_V;
+
+volatile bool ShouldState = false; //false==deaktive
+int cursor_position = 0;
+int max_cursor_pos = 0;
+bool in_editing = false;
+char display_message[100]; // Puffer für die Nachricht
+bool flag;
+uint16_t PWM_Frequency = 0;
+static void check_button_pressed(){
+    if (enc_in_button_flag){
+    enc_in_button_flag=false;
+
+        switch (current_menu){
+
+            case MAIN_MENU:
+                switch(cursor_position){
+                case 0:
+                    current_mode = (current_mode+1)% MODE_COUNT;
+                    break;
+                case 1:
+                    ShouldState = !ShouldState;
+                    if(ShouldState){
+                    start_mcpwm_output();
+                    }else{
+                    stop_mcpwm_output();
+                    }
+                    break;
+                case 2:
+                    current_menu = CONFIGURE_MENU;
+                    enc_in_counter=0;
+                    break;
+                case 3:
+                    current_menu = MORE_INFO_MENU;
+                    enc_in_counter=0;
+                    break;
+                case 4:
+                if (current_mode==DC_BRUSHED_MODE){
+                    current_out_combi =(current_out_combi+1)%10;
+                    }else{
+                        current_out_combi =(current_out_combi+1)%6;  
+                    }
+                    stop_mcpwm_output();
+                    configure_mcpwm_output(current_out_combi);
+                    ShouldState = false;
+                    break;
+                default:
+                    snprintf(display_message, sizeof(display_message), "ERROR");
+                    ssd1306_display_text(&dev, 7, display_message, strlen(display_message), false);
+                    break;
+                }
+                break;
+
+            case CONFIGURE_MENU:
+                switch(cursor_position){
+                case 0:
+                    if(in_editing){
+                      set_mcpwm_frequency(enc_in_counter*1000);
+                      in_editing = false;
+                      enc_in_counter= cursor_position;  
+                    }else{
+                        in_editing = true;
+                        enc_in_counter = get_frequency()/1000;
+                    }
+                
+                break;
+                case 1:
+                    if(in_editing){
+                        set_mcpwm_duty((float)enc_in_counter);
+                        in_editing = false;
+                        enc_in_counter = cursor_position;  
+                    }else{
+                        in_editing = true;
+                        enc_in_counter = (int)get_duty();
+                    }
+                break;
+                case 3:
+                current_menu = MAIN_MENU;
+                enc_in_counter=0;
+                break;
+                }
+            break;
+            case MORE_INFO_MENU:
+                current_menu = MAIN_MENU;
+                enc_in_counter=0;
+                break;
+            default:
+                ESP_LOGE("Error","Not yet programmed");
+                break;
+        }
+    }
+}
+static void getset_bridge_state(){
+
+bool RFE_Pulled = !(gpio_get_level(CONFIG_RFE_GPIO));
+    if(get_voltage_in()<18000){
+    current_bridge_state=STATE_UV;
+    }else if (RFE_Pulled){
+    current_bridge_state=STATE_OC;
+    }else if(!ShouldState){
+    current_bridge_state=STATE_DEAKTIVE;
+    }else{
+    current_bridge_state=STATE_ACTIVE;
+    }
+}
+
+static void render_main_menu(){
+    if(current_mode == BLDC_MODE)max_cursor_pos = 3;else max_cursor_pos=4;
+
+    //Mode
+    snprintf(display_message, sizeof(display_message), "Mode: %s", mode_names[current_mode]);
+    ssd1306_display_text(&dev, 1, display_message, strlen(display_message), cursor_position == 0);
+
+    //ShouldState Started oder Stopped
+    snprintf(display_message, sizeof(display_message), "%s", ShouldState ? "Started" : "Stopped");
+    ssd1306_display_text(&dev, 2, display_message, strlen(display_message), cursor_position == 1);
+
+    //Configure_Menu
+    snprintf(display_message, sizeof(display_message), "Configure ->");
+    ssd1306_display_text(&dev, 3, display_message, strlen(display_message), cursor_position == 2);
+
+    //More_Info_Menu
+    snprintf(display_message, sizeof(display_message), "Sensor Info ->");
+    ssd1306_display_text(&dev, 4, display_message, strlen(display_message),cursor_position == 3);
+
+    //Output Selection
+    snprintf(display_message, sizeof(display_message), "Out: %s",OutCombi_names[current_out_combi]);
+    ssd1306_display_text(&dev, 5, display_message, strlen(display_message), (current_mode == BLDC_MODE)|(cursor_position == 4));
+
+    
+    //State
+    getset_bridge_state();
+    snprintf(display_message, sizeof(display_message), "State: %s",state_names[current_bridge_state]);
+    ssd1306_display_text(&dev, 6, display_message, strlen(display_message), true);
+    
+    /*snprintf(display_message, sizeof(display_message), "cursor: %i %s",cursor_position,enc_in_button_flag ?"in" : "out");
+    ssd1306_display_text(&dev, 7, display_message, strlen(display_message), true);
+    */}
+    
+static void render_config_menu(){
+max_cursor_pos = 3;
+
+switch(current_mode){
+    case MCPWM_MODE:
+    case BLDC_MODE:
+    //Titel
+    snprintf(display_message, sizeof(display_message), "Conf. MCPWM");
+    ssd1306_display_text(&dev, 1, display_message, strlen(display_message), false);
+
+    //Frequenz
+    if(in_editing && cursor_position == 0){
+        snprintf(display_message, sizeof(display_message), "PWMFreq.:%ikHz", enc_in_counter);
+        ssd1306_display_text(&dev, 2, display_message, strlen(display_message), true);
+        set_mcpwm_frequency(enc_in_counter*1000);
+    }else{
+        snprintf(display_message, sizeof(display_message), "PWMFreq.:%lukHz", (get_frequency()/1000));
+        ssd1306_display_text(&dev, 2, display_message, strlen(display_message), cursor_position == 0);
+        
+    }
+    //Duty cycle
+    if(in_editing && cursor_position == 1){
+        snprintf(display_message, sizeof(display_message), "Duty: %.1f%%", (float)enc_in_counter);
+        ssd1306_display_text(&dev, 3, display_message, strlen(display_message), cursor_position == 1);
+        set_mcpwm_duty((float)enc_in_counter);
+    }else{
+        snprintf(display_message, sizeof(display_message), "Duty: %.1f%%", get_duty());
+        ssd1306_display_text(&dev, 3, display_message, strlen(display_message), cursor_position == 1);
+    }
+    //Todzeit
+    snprintf(display_message, sizeof(display_message), "DeadTime: %ins", CONFIG_DEAD_TIME_PWM);
+    ssd1306_display_text(&dev, 4, display_message, strlen(display_message), cursor_position == 2);
+
+    //Back
+    snprintf(display_message, sizeof(display_message), "Back");
+    ssd1306_display_text(&dev, 5, display_message, strlen(display_message), cursor_position == 3);
+
+    //State
+    getset_bridge_state();
+    snprintf(display_message, sizeof(display_message), "State: %s",state_names[current_bridge_state]);
+    ssd1306_display_text(&dev, 6, display_message, strlen(display_message), true);
+
+    break;
+    default:
+    break;
+}
+}
+
+static void render_info_menu(){
+max_cursor_pos = 1;
+
+    //cur_U & Hall_A
+    snprintf(display_message, sizeof(display_message), "U:%ldmA H_A:%c", get_current_ASC712(CONFIG_I_SENSE_U_ADC),get_Hall(CONFIG_HALL_A_GPIO)?'1':'0');
+    ssd1306_display_text(&dev, 1, display_message, strlen(display_message), false);
+    //cur_V & Hall_B
+    snprintf(display_message, sizeof(display_message), "V:%ldmA H_B:%c", get_current_ASC712(CONFIG_I_SENSE_V_ADC),get_Hall(CONFIG_HALL_B_GPIO)?'1':'0');
+    ssd1306_display_text(&dev, 2, display_message, strlen(display_message), false);
+    //cur_W & Hall_C
+    snprintf(display_message, sizeof(display_message), "W:%ldmA H_C:%c", get_current_ASC712(CONFIG_I_SENSE_W_ADC),get_Hall(CONFIG_HALL_C_GPIO)?'1':'0');
+    ssd1306_display_text(&dev, 3, display_message, strlen(display_message), false);
+    //Bridge Current & Speed
+    snprintf(display_message, sizeof(display_message), "B:%ldmA SP.:%frpm", get_current_bridge(CONFIG_I_SENSE_ADC), get_speed_AB());
+    ssd1306_display_text(&dev, 4, display_message, strlen(display_message), false);
+    //Bridge Voltage & Torque
+    snprintf(display_message, sizeof(display_message), "U_in:%ldmV Torq.:%ldmV", get_voltage_in(), get_torque());
+    ssd1306_display_text(&dev, 5, display_message, strlen(display_message), false);
+    //Left/right
+    snprintf(display_message, sizeof(display_message), "Dir.:%s", 
+    (get_direction() == -1) ? "Error" :
+    (get_direction() == 0) ? "Right" : "Left");
+    ssd1306_display_text(&dev, 6, display_message, strlen(display_message), false);
+    //Back
+    snprintf(display_message, sizeof(display_message), "Back");
+    ssd1306_display_text(&dev, 7, display_message, strlen(display_message), true);
+
+   
+}
+
+MenuState last_menu = MAIN_MENU; // Initialisiere mit dem Startmenü
+OutCombis last_out_combi = OUT_U_V;
+void menu_loop(){
+    if(current_mode== BLDC_MODE){
+        current_out_combi = get_output_combination(get_Hall_Combi());
+    
+    if (current_out_combi != last_out_combi) {
+        configure_mcpwm_output(current_out_combi);
+        if(ShouldState){
+        start_mcpwm_output();
+        }
+        last_out_combi = current_out_combi;   // Update to the new out_combi
+    }}
+    
+    if(!in_editing){
+    if (enc_in_counter<0){
+       enc_in_counter = max_cursor_pos;
+    }
+    if (enc_in_counter> max_cursor_pos){
+         enc_in_counter =0;
+    }
+    cursor_position = enc_in_counter;
+    }
+    if (current_menu != last_menu) {
+        ssd1306_clear_screen(&dev, false); // Clear the screen on menu change
+        last_menu = current_menu;   // Update to the new menu state
+    }
+    switch (current_menu)
+    {
+    case MAIN_MENU:
+        render_main_menu();
+        break;
+    case CONFIGURE_MENU:
+        render_config_menu();
+        break;
+    case MORE_INFO_MENU:
+        render_info_menu();
+    default:
+        break;
+    }
+   
+   check_button_pressed();
+}
--- a/old_functions.c
+++ b/old_functions.c
@@ -0,0 +1,142 @@
+/*############################################*/
+/*################ PWM-Setup #################*/
+/*############################################*/
+
+void set_PWM_Timer()
+{
+    ledc_timer_config_t ledc_timer = {
+        .speed_mode         = LEDC_HIGH_SPEED_MODE,
+        .timer_num          = LEDC_TIMER_0,
+        .duty_resolution    = LEDC_TIMER_10_BIT,
+        .freq_hz            = CONFIG_FREQ_PWM,
+        .clk_cfg            = LEDC_AUTO_CLK
+    };
+    esp_err_t err = ledc_timer_config(&ledc_timer);
+    if (err != ESP_OK) {
+        printf("Fehler beim Konfigurieren des LEDC-Timers: %s\n", esp_err_to_name(err));
+        return;
+    }
+   
+}
+void set_PWM()
+{
+        ledc_channel_config_t ledc_channel_HIN_U = 
+    {
+        .speed_mode     = LEDC_HIGH_SPEED_MODE,    // Gleicher Modus wie beim Timer
+        .channel        = LEDC_CHANNEL_0,          // Kanal 0 verwenden
+        .timer_sel      = LEDC_TIMER_0,            // Timer 0 zuweisen
+        .intr_type      = LEDC_INTR_DISABLE,       // Keine Interrupts
+        .gpio_num       = CONFIG_HIN_U_GPIO,         
+        .duty           = 0,                     //
+        .hpoint         = 0                        // Start des PWM-Signals
+    };
+    ledc_channel_config(&ledc_channel_HIN_U);   // Kanal konfigurieren
+        ledc_channel_config_t ledc_channel_HIN_V = 
+    {
+        .speed_mode     = LEDC_HIGH_SPEED_MODE,    // Gleicher Modus wie beim Timer
+        .channel        = LEDC_CHANNEL_1,          // Kanal 0 verwenden
+        .timer_sel      = LEDC_TIMER_0,            // Timer 0 zuweisen
+        .intr_type      = LEDC_INTR_DISABLE,       // Keine Interrupts
+        .gpio_num       = CONFIG_HIN_V_GPIO,         
+        .duty           = 0,                     // 
+        .hpoint         = 0                        // Start des PWM-Signals
+    };
+    ledc_channel_config(&ledc_channel_HIN_V);   // Kanal konfigurieren
+        ledc_channel_config_t ledc_channel_HIN_W = 
+    {
+        .speed_mode     = LEDC_HIGH_SPEED_MODE,    // Gleicher Modus wie beim Timer
+        .channel        = LEDC_CHANNEL_2,          // Kanal 0 verwenden
+        .timer_sel      = LEDC_TIMER_0,            // Timer 0 zuweisen
+        .intr_type      = LEDC_INTR_DISABLE,       // Keine Interrupts
+        .gpio_num       = CONFIG_HIN_W_GPIO,         
+        .duty           = 0,                     // 
+        .hpoint         = 0                        // Start des PWM-Signals
+    };
+    ledc_channel_config(&ledc_channel_HIN_W);   // Kanal konfigurieren
+}
+void pwmStart(int PWM_CH, int Duty){
+    ledc_set_duty(LEDC_HIGH_SPEED_MODE,PWM_CH, Duty);
+    ledc_update_duty(LEDC_HIGH_SPEED_MODE,PWM_CH);
+}
+void pwmStop(int PWM_CH){
+    ledc_stop(LEDC_HIGH_SPEED_MODE, PWM_CH, 0);
+}
+void pwmStopAll(){
+    ledc_stop(LEDC_HIGH_SPEED_MODE, HIN_U_CH, 0);
+    ledc_stop(LEDC_HIGH_SPEED_MODE, HIN_V_CH, 0);
+    ledc_stop(LEDC_HIGH_SPEED_MODE, HIN_W_CH, 0);
+    gpio_set_level(CONFIG_LIN_U_GPIO, 0);      
+    gpio_set_level(CONFIG_LIN_V_GPIO, 0);      
+    gpio_set_level(CONFIG_LIN_W_GPIO, 0);      
+}
+void U_V_start(int duty)
+{   
+    //HIN_V und LIN_U abschalten
+    pwmStop(HIN_V_CH);
+    gpio_set_level(CONFIG_LIN_U_GPIO, 0);
+    //HIN_U und LIN_V einschalten     
+    pwmStart(HIN_U_CH, duty);
+    gpio_set_level(CONFIG_LIN_V_GPIO, 1);      
+}
+void V_U_start(int duty)
+{
+    //HIN_U und LIN_V abschalten
+    pwmStop(HIN_U_CH);
+    gpio_set_level(CONFIG_LIN_V_GPIO, 0);
+    //HIN_V und LIN_U einschalten     
+    pwmStart(HIN_V_CH, duty);
+    gpio_set_level(CONFIG_LIN_U_GPIO, 1);  
+}
+void U_W_start(int duty)
+{
+    //HIN_W und LIN_U abschalten
+    pwmStop(HIN_W_CH);
+    gpio_set_level(CONFIG_LIN_U_GPIO, 0);
+    //HIN_U und LIN_V einschalten     
+    pwmStart(HIN_W_CH, duty);
+    gpio_set_level(CONFIG_LIN_V_GPIO, 1);      
+}
+void W_U_start(int duty)
+{
+    //HIN_U und LIN_W abschalten
+    pwmStop(HIN_U_CH);
+    gpio_set_level(CONFIG_LIN_W_GPIO, 0);
+    //HIN_U und LIN_V einschalten     
+    pwmStart(HIN_W_CH, duty);
+    gpio_set_level(CONFIG_LIN_U_GPIO, 1);     
+}
+void V_W_start(int duty)
+{
+    //HIN_U und LIN_W abschalten
+    pwmStop(HIN_W_CH);
+    gpio_set_level(CONFIG_LIN_V_GPIO, 0);
+    //HIN_U und LIN_V einschalten     
+    pwmStart(HIN_V_CH, duty);
+    gpio_set_level(CONFIG_LIN_W_GPIO, 1);     
+}
+void W_V_start(int duty)
+{
+    //HIN_U und LIN_W abschalten
+    pwmStop(HIN_V_CH);
+    gpio_set_level(CONFIG_LIN_W_GPIO, 0);
+    //HIN_U und LIN_V einschalten     
+    pwmStart(HIN_W_CH, duty);
+    gpio_set_level(CONFIG_LIN_V_GPIO, 1);     
+}
+/*############################################*/
+/*################## MISC ####################*/
+/*############################################*/
+//Ausgelagert in Preprocessing python program, generate_pins_header.py
+void parse_3pins(const char *TAG, const char *pin_string, int *pins) {
+    int pin_count = 0;  // Jetzt ein Integer, keine Null-Pointer-Dereferenzierung
+    char *token;
+    char *pin_list = strdup(pin_string);  // Kopie der String-Option
+
+    token = strtok(pin_list, ",");
+    while (token != NULL && pin_count < 3) { // maximal 3 Pins
+        pins[pin_count] = atoi(token);   // Umwandlung in Integer
+        pin_count++;
+        token = strtok(NULL, ",");
+    }
+    free(pin_list);  // Speicher freigeben
+}
--- a/old_functions.h
+++ b/old_functions.h
@@ -0,0 +1,11 @@
+void set_PWM_Timer();
+void set_PWM();
+void pwmStart(int PWM_CH,int Duty);
+void pwmStop(int PWM_CH);
+void pwmStopAll();
+void U_V_start(int duty);
+void V_U_start(int duty);
+void U_W_start(int duty);
+void W_U_start(int duty);
+void V_W_start(int duty);
+void W_V_start(int duty);
--- a/parsed_pins.h
+++ b/parsed_pins.h
@@ -1,4 +1,6 @@
 // Automatically generated file. Do not modify.
+#ifndef PARSED_PINS_H
+#define PARSED_PINS_H

 #define CONFIG_I_SENSE_U_ADC 6
 #define CONFIG_I_SENSE_V_ADC 3
@@ -16,11 +18,12 @@
 #define CONFIG_HALL_B_GPIO 16
 #define CONFIG_HALL_C_GPIO 17

-#define CONFIG_IN_ENC_A_GPIO 3
-#define CONFIG_IN_ENC_B_GPIO 2
-#define CONFIG_IN_ENC_BUT_GPIO 23
+#define CONFIG_IN_ENC_A_GPIO 23
+#define CONFIG_IN_ENC_B_GPIO 1
+#define CONFIG_IN_ENC_BUT_GPIO 3

 #define CONFIG_EXT_ENC_INDX_GPIO 16
 #define CONFIG_EXT_ENC_LEFT_GPIO 18
 #define CONFIG_EXT_ENC_RIGHT_GPIO 5

+#endif
--- a/337
+++ b/337
@@ -1,6 +1,6 @@
 #
 # Automatically generated file. DO NOT EDIT.
-# Espressif IoT Development Framework (ESP-IDF) 5.2.3 Project Configuration
+# Espressif IoT Development Framework (ESP-IDF) 5.3.0 Project Configuration
 #
 CONFIG_SOC_BROWNOUT_RESET_SUPPORTED="Not determined"
 CONFIG_SOC_TWAI_BRP_DIV_SUPPORTED="Not determined"
@@ -14,6 +14,7 @@ CONFIG_SOC_GPTIMER_SUPPORTED=y
 CONFIG_SOC_SDMMC_HOST_SUPPORTED=y
 CONFIG_SOC_BT_SUPPORTED=y
 CONFIG_SOC_PCNT_SUPPORTED=y
+CONFIG_SOC_PHY_SUPPORTED=y
 CONFIG_SOC_WIFI_SUPPORTED=y
 CONFIG_SOC_SDIO_SLAVE_SUPPORTED=y
 CONFIG_SOC_TWAI_SUPPORTED=y
@@ -43,6 +44,11 @@ CONFIG_SOC_CLK_TREE_SUPPORTED=y
 CONFIG_SOC_MPU_SUPPORTED=y
 CONFIG_SOC_WDT_SUPPORTED=y
 CONFIG_SOC_SPI_FLASH_SUPPORTED=y
+CONFIG_SOC_RNG_SUPPORTED=y
+CONFIG_SOC_LIGHT_SLEEP_SUPPORTED=y
+CONFIG_SOC_DEEP_SLEEP_SUPPORTED=y
+CONFIG_SOC_LP_PERIPH_SHARE_INTERRUPT=y
+CONFIG_SOC_PM_SUPPORTED=y
 CONFIG_SOC_DPORT_WORKAROUND_DIS_INTERRUPT_LVL=5
 CONFIG_SOC_XTAL_SUPPORT_26M=y
 CONFIG_SOC_XTAL_SUPPORT_40M=y
@@ -84,7 +90,9 @@ CONFIG_SOC_GPIO_IN_RANGE_MAX=39
 CONFIG_SOC_GPIO_OUT_RANGE_MAX=33
 CONFIG_SOC_GPIO_VALID_DIGITAL_IO_PAD_MASK=0xEF0FEA
 CONFIG_SOC_GPIO_CLOCKOUT_BY_IO_MUX=y
+CONFIG_SOC_GPIO_CLOCKOUT_CHANNEL_NUM=3
 CONFIG_SOC_I2C_NUM=2
+CONFIG_SOC_HP_I2C_NUM=2
 CONFIG_SOC_I2C_FIFO_LEN=32
 CONFIG_SOC_I2C_CMD_REG_NUM=16
 CONFIG_SOC_I2C_SUPPORT_SLAVE=y
@@ -164,9 +172,9 @@ CONFIG_SOC_TIMER_GROUP_TIMERS_PER_GROUP=2
 CONFIG_SOC_TIMER_GROUP_COUNTER_BIT_WIDTH=64
 CONFIG_SOC_TIMER_GROUP_TOTAL_TIMERS=4
 CONFIG_SOC_TIMER_GROUP_SUPPORT_APB=y
-CONFIG_SOC_TOUCH_VERSION_1=y
+CONFIG_SOC_TOUCH_SENSOR_VERSION=1
 CONFIG_SOC_TOUCH_SENSOR_NUM=10
-CONFIG_SOC_TOUCH_PAD_MEASURE_WAIT_MAX=0xFF
+CONFIG_SOC_TOUCH_SAMPLER_NUM=1
 CONFIG_SOC_TWAI_CONTROLLER_NUM=1
 CONFIG_SOC_TWAI_BRP_MIN=2
 CONFIG_SOC_TWAI_CLK_SUPPORT_APB=y
@@ -222,14 +230,16 @@ CONFIG_SOC_BLE_SUPPORTED=y
 CONFIG_SOC_BLE_MESH_SUPPORTED=y
 CONFIG_SOC_BT_CLASSIC_SUPPORTED=y
 CONFIG_SOC_BLUFI_SUPPORTED=y
+CONFIG_SOC_BT_H2C_ENC_KEY_CTRL_ENH_VSC_SUPPORTED=y
 CONFIG_SOC_ULP_HAS_ADC=y
 CONFIG_SOC_PHY_COMBO_MODULE=y
+CONFIG_SOC_EMAC_RMII_CLK_OUT_INTERNAL_LOOPBACK=y
 CONFIG_IDF_CMAKE=y
 CONFIG_IDF_TOOLCHAIN="gcc"
 CONFIG_IDF_TARGET_ARCH_XTENSA=y
 CONFIG_IDF_TARGET_ARCH="xtensa"
 CONFIG_IDF_TARGET="esp32"
-CONFIG_IDF_INIT_VERSION="5.2.3"
+CONFIG_IDF_INIT_VERSION="5.3.0"
 CONFIG_IDF_TARGET_ESP32=y
 CONFIG_IDF_FIRMWARE_CHIP_ID=0x0000

@@ -319,9 +329,13 @@ CONFIG_ESP_ROM_HAS_MZ_CRC32=y
 CONFIG_ESP_ROM_HAS_JPEG_DECODE=y
 CONFIG_ESP_ROM_HAS_UART_BUF_SWITCH=y
 CONFIG_ESP_ROM_NEEDS_SWSETUP_WORKAROUND=y
+CONFIG_ESP_ROM_HAS_NEWLIB=y
 CONFIG_ESP_ROM_HAS_NEWLIB_NANO_FORMAT=y
+CONFIG_ESP_ROM_HAS_NEWLIB_32BIT_TIME=y
 CONFIG_ESP_ROM_HAS_SW_FLOAT=y
+CONFIG_ESP_ROM_USB_OTG_NUM=-1
 CONFIG_ESP_ROM_USB_SERIAL_DEVICE_NUM=-1
+CONFIG_ESP_ROM_SUPPORT_DEEP_SLEEP_WAKEUP_STUB=y

 #
 # Serial flasher config
@@ -373,6 +387,8 @@ CONFIG_PARTITION_TABLE_MD5=y
 #
 # DIY Power PCB Configuration
 #
+CONFIG_V2=y
+# CONFIG_V1 is not set
 CONFIG_ENV_GPIO_RANGE_MIN=0
 CONFIG_ENV_GPIO_RANGE_MAX=39
 CONFIG_ENV_GPIO_IN_RANGE_MAX=39
@@ -391,18 +407,24 @@ CONFIG_TORQUE_ADC=4
 # Highside pin configurations (HIN)
 #
 CONFIG_HIN_U_V_W_GPIO="26, 14, 13"
-CONFIG_ENABLE_PWM_HIN=y
-CONFIG_FREQ_PWM_HIN=20000
-CONFIG_DUTY_PWM_HIN=50
 # end of Highside pin configurations (HIN)

 #
 # Lowside pin configurations (LIN)
 #
 CONFIG_LIN_U_V_W_GPIO="25, 27, 12"
-# CONFIG_ENABLE_PWM_LIN is not set
 # end of Lowside pin configurations (LIN)

+#
+# PWM configuration
+#
+CONFIG_ENABLE_PWM=y
+CONFIG_TIMER_BASE_FREQ=40000000
+CONFIG_FREQ_PWM=20000
+CONFIG_DUTY_PWM=50
+CONFIG_DEAD_TIME_PWM=0
+# end of PWM configuration
+
 #
 # Hall Sensor pin configurations
 #
@@ -412,13 +434,13 @@ CONFIG_HALL_A_B_C_GPIO="4, 16, 17"
 #
 # Input pin configurations
 #
-CONFIG_IN_ENCODER_GPIO="3, 2, 23"
-CONFIG_BUTTON_GPIO=1
+CONFIG_IN_ENCODER_GPIO="23,1,3"
+CONFIG_IN_ENCODER_GPIO_V2="23, 1, 3"
+CONFIG_IN_ENCODER_DEBOUNCE_TIME=500
+CONFIG_ESP_LED=2
 CONFIG_EXT_ENCODER_GPIO="16, 18, 5"
 CONFIG_RFE_GPIO=15
 # end of Input pin configurations
-
-CONFIG_BLINK_PERIOD=1000
 # end of DIY Power PCB Configuration

 #
@@ -429,11 +451,11 @@ CONFIG_I2C_INTERFACE=y
 # CONFIG_SPI_INTERFACE is not set
 # CONFIG_SSD1306_128x32 is not set
 CONFIG_SSD1306_128x64=y
-CONFIG_OFFSETX=0
+CONFIG_OFFSETX=2
 # CONFIG_FLIP is not set
 CONFIG_SCL_GPIO=22
 CONFIG_SDA_GPIO=21
-CONFIG_RESET_GPIO=15
+CONFIG_RESET_GPIO=-1
 CONFIG_I2C_PORT_0=y
 # CONFIG_I2C_PORT_1 is not set
 # CONFIG_LEGACY_DRIVER is not set
@@ -492,35 +514,16 @@ CONFIG_APPTRACE_LOCK_ENABLE=y
 CONFIG_BT_ALARM_MAX_NUM=50
 # end of Bluetooth

+#
+# Console Library
+#
+# CONFIG_CONSOLE_SORTED_HELP is not set
+# end of Console Library
+
 #
 # Driver Configurations
 #

-#
-# Legacy ADC Configuration
-#
-CONFIG_ADC_DISABLE_DAC=y
-# CONFIG_ADC_SUPPRESS_DEPRECATE_WARN is not set
-
-#
-# Legacy ADC Calibration Configuration
-#
-CONFIG_ADC_CAL_EFUSE_TP_ENABLE=y
-CONFIG_ADC_CAL_EFUSE_VREF_ENABLE=y
-CONFIG_ADC_CAL_LUT_ENABLE=y
-# CONFIG_ADC_CALI_SUPPRESS_DEPRECATE_WARN is not set
-# end of Legacy ADC Calibration Configuration
-# end of Legacy ADC Configuration
-
-#
-# SPI Configuration
-#
-# CONFIG_SPI_MASTER_IN_IRAM is not set
-CONFIG_SPI_MASTER_ISR_IN_IRAM=y
-# CONFIG_SPI_SLAVE_IN_IRAM is not set
-CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
-# end of SPI Configuration
-
 #
 # TWAI Configuration
 #
@@ -533,93 +536,62 @@ CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM=y
 # end of TWAI Configuration

 #
-# UART Configuration
+# Legacy ADC Driver Configuration
 #
-# CONFIG_UART_ISR_IN_IRAM is not set
-# end of UART Configuration
+CONFIG_ADC_DISABLE_DAC=y
+# CONFIG_ADC_SUPPRESS_DEPRECATE_WARN is not set

 #
-# GPIO Configuration
+# Legacy ADC Calibration Configuration
 #
-# CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL is not set
-# CONFIG_GPIO_CTRL_FUNC_IN_IRAM is not set
-# end of GPIO Configuration
+CONFIG_ADC_CAL_EFUSE_TP_ENABLE=y
+CONFIG_ADC_CAL_EFUSE_VREF_ENABLE=y
+CONFIG_ADC_CAL_LUT_ENABLE=y
+# CONFIG_ADC_CALI_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy ADC Calibration Configuration
+# end of Legacy ADC Driver Configuration

 #
-# Sigma Delta Modulator Configuration
+# Legacy DAC Driver Configurations
 #
-# CONFIG_SDM_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_SDM_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_SDM_ENABLE_DEBUG_LOG is not set
-# end of Sigma Delta Modulator Configuration
-
-#
-# GPTimer Configuration
-#
-CONFIG_GPTIMER_ISR_HANDLER_IN_IRAM=y
-# CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_GPTIMER_ISR_IRAM_SAFE is not set
-# CONFIG_GPTIMER_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_GPTIMER_ENABLE_DEBUG_LOG is not set
-# end of GPTimer Configuration
-
-#
-# PCNT Configuration
-#
-# CONFIG_PCNT_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_PCNT_ISR_IRAM_SAFE is not set
-# CONFIG_PCNT_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_PCNT_ENABLE_DEBUG_LOG is not set
-# end of PCNT Configuration
-
-#
-# RMT Configuration
-#
-# CONFIG_RMT_ISR_IRAM_SAFE is not set
-# CONFIG_RMT_RECV_FUNC_IN_IRAM is not set
-# CONFIG_RMT_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_RMT_ENABLE_DEBUG_LOG is not set
-# end of RMT Configuration
-
-#
-# MCPWM Configuration
-#
-# CONFIG_MCPWM_ISR_IRAM_SAFE is not set
-# CONFIG_MCPWM_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_MCPWM_ENABLE_DEBUG_LOG is not set
-# end of MCPWM Configuration
-
-#
-# I2S Configuration
-#
-# CONFIG_I2S_ISR_IRAM_SAFE is not set
-# CONFIG_I2S_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_I2S_ENABLE_DEBUG_LOG is not set
-# end of I2S Configuration
-
-#
-# DAC Configuration
-#
-# CONFIG_DAC_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_DAC_ISR_IRAM_SAFE is not set
 # CONFIG_DAC_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_DAC_ENABLE_DEBUG_LOG is not set
-CONFIG_DAC_DMA_AUTO_16BIT_ALIGN=y
-# end of DAC Configuration
+# end of Legacy DAC Driver Configurations

 #
-# LEDC Configuration
+# Legacy MCPWM Driver Configurations
 #
-# CONFIG_LEDC_CTRL_FUNC_IN_IRAM is not set
-# end of LEDC Configuration
+# CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy MCPWM Driver Configurations

 #
-# I2C Configuration
+# Legacy Timer Group Driver Configurations
 #
-# CONFIG_I2C_ISR_IRAM_SAFE is not set
-# CONFIG_I2C_ENABLE_DEBUG_LOG is not set
-# end of I2C Configuration
+# CONFIG_GPTIMER_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy Timer Group Driver Configurations
+
+#
+# Legacy RMT Driver Configurations
+#
+# CONFIG_RMT_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy RMT Driver Configurations
+
+#
+# Legacy I2S Driver Configurations
+#
+# CONFIG_I2S_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy I2S Driver Configurations
+
+#
+# Legacy PCNT Driver Configurations
+#
+# CONFIG_PCNT_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy PCNT Driver Configurations
+
+#
+# Legacy SDM Driver Configurations
+#
+# CONFIG_SDM_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy SDM Driver Configurations
 # end of Driver Configurations

 #
@@ -639,7 +611,9 @@ CONFIG_EFUSE_MAX_BLK_LEN=192
 CONFIG_ESP_TLS_USING_MBEDTLS=y
 # CONFIG_ESP_TLS_USE_SECURE_ELEMENT is not set
 # CONFIG_ESP_TLS_CLIENT_SESSION_TICKETS is not set
-# CONFIG_ESP_TLS_SERVER is not set
+# CONFIG_ESP_TLS_SERVER_SESSION_TICKETS is not set
+# CONFIG_ESP_TLS_SERVER_CERT_SELECT_HOOK is not set
+# CONFIG_ESP_TLS_SERVER_MIN_AUTH_MODE_OPTIONAL is not set
 # CONFIG_ESP_TLS_PSK_VERIFICATION is not set
 # CONFIG_ESP_TLS_INSECURE is not set
 # end of ESP-TLS
@@ -659,11 +633,13 @@ CONFIG_ADC_CALI_LUT_ENABLE=y
 # end of ADC Calibration Configurations

 CONFIG_ADC_DISABLE_DAC_OUTPUT=y
+# CONFIG_ADC_ENABLE_DEBUG_LOG is not set
 # end of ADC and ADC Calibration

 #
 # Wireless Coexistence
 #
+CONFIG_ESP_COEX_ENABLED=y
 # end of Wireless Coexistence

 #
@@ -672,6 +648,97 @@ CONFIG_ADC_DISABLE_DAC_OUTPUT=y
 CONFIG_ESP_ERR_TO_NAME_LOOKUP=y
 # end of Common ESP-related

+#
+# ESP-Driver:DAC Configurations
+#
+# CONFIG_DAC_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_DAC_ISR_IRAM_SAFE is not set
+# CONFIG_DAC_ENABLE_DEBUG_LOG is not set
+CONFIG_DAC_DMA_AUTO_16BIT_ALIGN=y
+# end of ESP-Driver:DAC Configurations
+
+#
+# ESP-Driver:GPIO Configurations
+#
+# CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL is not set
+# CONFIG_GPIO_CTRL_FUNC_IN_IRAM is not set
+# end of ESP-Driver:GPIO Configurations
+
+#
+# ESP-Driver:GPTimer Configurations
+#
+CONFIG_GPTIMER_ISR_HANDLER_IN_IRAM=y
+# CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_GPTIMER_ISR_IRAM_SAFE is not set
+# CONFIG_GPTIMER_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:GPTimer Configurations
+
+#
+# ESP-Driver:I2C Configurations
+#
+# CONFIG_I2C_ISR_IRAM_SAFE is not set
+# CONFIG_I2C_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:I2C Configurations
+
+#
+# ESP-Driver:I2S Configurations
+#
+# CONFIG_I2S_ISR_IRAM_SAFE is not set
+# CONFIG_I2S_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:I2S Configurations
+
+#
+# ESP-Driver:LEDC Configurations
+#
+# CONFIG_LEDC_CTRL_FUNC_IN_IRAM is not set
+# end of ESP-Driver:LEDC Configurations
+
+#
+# ESP-Driver:MCPWM Configurations
+#
+# CONFIG_MCPWM_ISR_IRAM_SAFE is not set
+# CONFIG_MCPWM_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_MCPWM_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:MCPWM Configurations
+
+#
+# ESP-Driver:PCNT Configurations
+#
+# CONFIG_PCNT_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_PCNT_ISR_IRAM_SAFE is not set
+# CONFIG_PCNT_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:PCNT Configurations
+
+#
+# ESP-Driver:RMT Configurations
+#
+# CONFIG_RMT_ISR_IRAM_SAFE is not set
+# CONFIG_RMT_RECV_FUNC_IN_IRAM is not set
+# CONFIG_RMT_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:RMT Configurations
+
+#
+# ESP-Driver:Sigma Delta Modulator Configurations
+#
+# CONFIG_SDM_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_SDM_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:Sigma Delta Modulator Configurations
+
+#
+# ESP-Driver:SPI Configurations
+#
+# CONFIG_SPI_MASTER_IN_IRAM is not set
+CONFIG_SPI_MASTER_ISR_IN_IRAM=y
+# CONFIG_SPI_SLAVE_IN_IRAM is not set
+CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
+# end of ESP-Driver:SPI Configurations
+
+#
+# ESP-Driver:UART Configurations
+#
+# CONFIG_UART_ISR_IN_IRAM is not set
+# end of ESP-Driver:UART Configurations
+
 #
 # Ethernet
 #
@@ -716,6 +783,7 @@ CONFIG_ESP_GDBSTUB_MAX_TASKS=32
 CONFIG_ESP_HTTP_CLIENT_ENABLE_HTTPS=y
 # CONFIG_ESP_HTTP_CLIENT_ENABLE_BASIC_AUTH is not set
 # CONFIG_ESP_HTTP_CLIENT_ENABLE_DIGEST_AUTH is not set
+# CONFIG_ESP_HTTP_CLIENT_ENABLE_CUSTOM_TRANSPORT is not set
 # end of ESP HTTP client

 #
@@ -765,12 +833,6 @@ CONFIG_ESP_REV_MIN_FULL=0
 #
 CONFIG_ESP32_REV_MAX_FULL=399
 CONFIG_ESP_REV_MAX_FULL=399
-CONFIG_ESP_EFUSE_BLOCK_REV_MIN_FULL=0
-CONFIG_ESP_EFUSE_BLOCK_REV_MAX_FULL=99
-
-#
-# Maximum Supported ESP32 eFuse Block Revision (eFuse Block Rev v0.99)
-#
 # end of Chip revision

 #
@@ -781,6 +843,7 @@ CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_AP=y
 CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y
 CONFIG_ESP_MAC_ADDR_UNIVERSE_ETH=y
 CONFIG_ESP_MAC_UNIVERSAL_MAC_ADDRESSES_FOUR=y
+CONFIG_ESP_MAC_UNIVERSAL_MAC_ADDRESSES=4
 # CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_TWO is not set
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_FOUR=y
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=4
@@ -826,6 +889,8 @@ CONFIG_XTAL_FREQ_40=y
 # CONFIG_XTAL_FREQ_AUTO is not set
 CONFIG_XTAL_FREQ=40
 # end of Main XTAL Config
+
+CONFIG_ESP_SPI_BUS_LOCK_ISR_FUNCS_IN_IRAM=y
 # end of Hardware Settings

 #
@@ -854,7 +919,6 @@ CONFIG_ESP_NETIF_USES_TCPIP_WITH_BSD_API=y
 # CONFIG_ESP_NETIF_RECEIVE_REPORT_ERRORS is not set
 # CONFIG_ESP_NETIF_L2_TAP is not set
 # CONFIG_ESP_NETIF_BRIDGE_EN is not set
-# CONFIG_ESP_NETIF_SET_DNS_PER_DEFAULT_NETIF is not set
 # end of ESP NETIF Adapter

 #
@@ -865,6 +929,7 @@ CONFIG_ESP_NETIF_USES_TCPIP_WITH_BSD_API=y
 #
 # PHY
 #
+CONFIG_ESP_PHY_ENABLED=y
 CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y
 # CONFIG_ESP_PHY_INIT_DATA_IN_PARTITION is not set
 CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20
@@ -946,6 +1011,7 @@ CONFIG_ESP_CONSOLE_UART_DEFAULT=y
 # CONFIG_ESP_CONSOLE_NONE is not set
 CONFIG_ESP_CONSOLE_UART=y
 CONFIG_ESP_CONSOLE_UART_NUM=0
+CONFIG_ESP_CONSOLE_ROM_SERIAL_PORT_NUM=0
 CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
 CONFIG_ESP_INT_WDT=y
 CONFIG_ESP_INT_WDT_TIMEOUT_MS=300
@@ -990,7 +1056,7 @@ CONFIG_ESP_IPC_ISR_ENABLE=y
 # end of IPC (Inter-Processor Call)

 #
-# High resolution timer (esp_timer)
+# ESP Timer (High Resolution Timer)
 #
 # CONFIG_ESP_TIMER_PROFILING is not set
 CONFIG_ESP_TIME_FUNCS_USE_RTC_TIMER=y
@@ -1000,11 +1066,10 @@ CONFIG_ESP_TIMER_INTERRUPT_LEVEL=1
 # CONFIG_ESP_TIMER_SHOW_EXPERIMENTAL is not set
 CONFIG_ESP_TIMER_TASK_AFFINITY=0x0
 CONFIG_ESP_TIMER_TASK_AFFINITY_CPU0=y
-CONFIG_ESP_TIMER_ISR_AFFINITY=0x1
 CONFIG_ESP_TIMER_ISR_AFFINITY_CPU0=y
 # CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD is not set
 CONFIG_ESP_TIMER_IMPL_TG0_LAC=y
-# end of High resolution timer (esp_timer)
+# end of ESP Timer (High Resolution Timer)

 #
 # Wi-Fi
@@ -1115,6 +1180,8 @@ CONFIG_FATFS_PER_FILE_CACHE=y
 # CONFIG_FATFS_USE_FASTSEEK is not set
 CONFIG_FATFS_VFS_FSTAT_BLKSIZE=0
 # CONFIG_FATFS_IMMEDIATE_FSYNC is not set
+# CONFIG_FATFS_USE_LABEL is not set
+CONFIG_FATFS_LINK_LOCK=y
 # end of FAT Filesystem support

 #
@@ -1136,14 +1203,18 @@ CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536
 # CONFIG_FREERTOS_USE_TICK_HOOK is not set
 CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16
 # CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY is not set
-CONFIG_FREERTOS_USE_TIMERS=y
 CONFIG_FREERTOS_TIMER_SERVICE_TASK_NAME="Tmr Svc"
+# CONFIG_FREERTOS_TIMER_TASK_AFFINITY_CPU0 is not set
+# CONFIG_FREERTOS_TIMER_TASK_AFFINITY_CPU1 is not set
+CONFIG_FREERTOS_TIMER_TASK_NO_AFFINITY=y
+CONFIG_FREERTOS_TIMER_SERVICE_TASK_CORE_AFFINITY=0x7FFFFFFF
 CONFIG_FREERTOS_TIMER_TASK_PRIORITY=1
 CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=2048
 CONFIG_FREERTOS_TIMER_QUEUE_LENGTH=10
 CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE=0
 CONFIG_FREERTOS_TASK_NOTIFICATION_ARRAY_ENTRIES=1
 # CONFIG_FREERTOS_USE_TRACE_FACILITY is not set
+# CONFIG_FREERTOS_USE_LIST_DATA_INTEGRITY_CHECK_BYTES is not set
 # CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS is not set
 # CONFIG_FREERTOS_USE_APPLICATION_TASK_TAG is not set
 # end of Kernel
@@ -1174,6 +1245,7 @@ CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION=y
 CONFIG_FREERTOS_DEBUG_OCDAWARE=y
 CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT=y
 CONFIG_FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH=y
+CONFIG_FREERTOS_NUMBER_OF_CORES=2
 # end of FreeRTOS

 #
@@ -1301,6 +1373,7 @@ CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
 CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5760
 CONFIG_LWIP_TCP_WND_DEFAULT=5760
 CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
+CONFIG_LWIP_TCP_ACCEPTMBOX_SIZE=6
 CONFIG_LWIP_TCP_QUEUE_OOSEQ=y
 CONFIG_LWIP_TCP_OOSEQ_TIMEOUT=6
 CONFIG_LWIP_TCP_OOSEQ_MAX_PBUFS=4
@@ -1331,9 +1404,6 @@ CONFIG_LWIP_TCPIP_TASK_AFFINITY_NO_AFFINITY=y
 # CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU0 is not set
 # CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU1 is not set
 CONFIG_LWIP_TCPIP_TASK_AFFINITY=0x7FFFFFFF
-CONFIG_LWIP_IPV6_ND6_NUM_PREFIXES=5
-CONFIG_LWIP_IPV6_ND6_NUM_ROUTERS=3
-CONFIG_LWIP_IPV6_ND6_NUM_DESTINATIONS=10
 # CONFIG_LWIP_PPP_SUPPORT is not set
 CONFIG_LWIP_IPV6_MEMP_NUM_ND6_QUEUE=3
 CONFIG_LWIP_IPV6_ND6_NUM_NEIGHBORS=5
@@ -1359,15 +1429,15 @@ CONFIG_LWIP_MAX_RAW_PCBS=16
 CONFIG_LWIP_SNTP_MAX_SERVERS=1
 # CONFIG_LWIP_DHCP_GET_NTP_SRV is not set
 CONFIG_LWIP_SNTP_UPDATE_DELAY=3600000
+CONFIG_LWIP_SNTP_STARTUP_DELAY=y
+CONFIG_LWIP_SNTP_MAXIMUM_STARTUP_DELAY=5000
 # end of SNTP

 #
 # DNS
 #
-CONFIG_LWIP_DNS_MAX_HOST_IP=1
 CONFIG_LWIP_DNS_MAX_SERVERS=3
 # CONFIG_LWIP_FALLBACK_DNS_SERVER_SUPPORT is not set
-# CONFIG_LWIP_DNS_SETSERVER_WITH_NETIF is not set
 # end of DNS

 CONFIG_LWIP_BRIDGEIF_MAX_PORTS=7
@@ -1430,13 +1500,14 @@ CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
 # CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
+# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEPRECATED_LIST is not set
 CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
 # end of Certificate Bundle

 # CONFIG_MBEDTLS_ECP_RESTARTABLE is not set
 CONFIG_MBEDTLS_CMAC_C=y
 CONFIG_MBEDTLS_HARDWARE_AES=y
-# CONFIG_MBEDTLS_GCM_SUPPORT_NON_AES_CIPHER is not set
+CONFIG_MBEDTLS_GCM_SUPPORT_NON_AES_CIPHER=y
 CONFIG_MBEDTLS_HARDWARE_MPI=y
 # CONFIG_MBEDTLS_LARGE_KEY_SOFTWARE_MPI is not set
 CONFIG_MBEDTLS_HARDWARE_SHA=y
@@ -1639,6 +1710,7 @@ CONFIG_SPI_FLASH_BROWNOUT_RESET=y
 #
 # Features here require specific hardware (READ DOCS FIRST!)
 #
+CONFIG_SPI_FLASH_SUSPEND_TSUS_VAL_US=50
 # end of Optional and Experimental Features (READ DOCS FIRST)
 # end of Main Flash configuration

@@ -1733,6 +1805,11 @@ CONFIG_WS_BUFFER_SIZE=1024
 # Ultra Low Power (ULP) Co-processor
 #
 # CONFIG_ULP_COPROC_ENABLED is not set
+
+#
+# ULP Debugging Options
+#
+# end of ULP Debugging Options
 # end of Ultra Low Power (ULP) Co-processor

 #
--- a/sdkconfig.old
+++ b/sdkconfig.old
@@ -1,6 +1,6 @@
 #
 # Automatically generated file. DO NOT EDIT.
-# Espressif IoT Development Framework (ESP-IDF) 5.2.3 Project Configuration
+# Espressif IoT Development Framework (ESP-IDF) 5.3.0 Project Configuration
 #
 CONFIG_SOC_BROWNOUT_RESET_SUPPORTED="Not determined"
 CONFIG_SOC_TWAI_BRP_DIV_SUPPORTED="Not determined"
@@ -14,6 +14,7 @@ CONFIG_SOC_GPTIMER_SUPPORTED=y
 CONFIG_SOC_SDMMC_HOST_SUPPORTED=y
 CONFIG_SOC_BT_SUPPORTED=y
 CONFIG_SOC_PCNT_SUPPORTED=y
+CONFIG_SOC_PHY_SUPPORTED=y
 CONFIG_SOC_WIFI_SUPPORTED=y
 CONFIG_SOC_SDIO_SLAVE_SUPPORTED=y
 CONFIG_SOC_TWAI_SUPPORTED=y
@@ -43,6 +44,11 @@ CONFIG_SOC_CLK_TREE_SUPPORTED=y
 CONFIG_SOC_MPU_SUPPORTED=y
 CONFIG_SOC_WDT_SUPPORTED=y
 CONFIG_SOC_SPI_FLASH_SUPPORTED=y
+CONFIG_SOC_RNG_SUPPORTED=y
+CONFIG_SOC_LIGHT_SLEEP_SUPPORTED=y
+CONFIG_SOC_DEEP_SLEEP_SUPPORTED=y
+CONFIG_SOC_LP_PERIPH_SHARE_INTERRUPT=y
+CONFIG_SOC_PM_SUPPORTED=y
 CONFIG_SOC_DPORT_WORKAROUND_DIS_INTERRUPT_LVL=5
 CONFIG_SOC_XTAL_SUPPORT_26M=y
 CONFIG_SOC_XTAL_SUPPORT_40M=y
@@ -84,7 +90,9 @@ CONFIG_SOC_GPIO_IN_RANGE_MAX=39
 CONFIG_SOC_GPIO_OUT_RANGE_MAX=33
 CONFIG_SOC_GPIO_VALID_DIGITAL_IO_PAD_MASK=0xEF0FEA
 CONFIG_SOC_GPIO_CLOCKOUT_BY_IO_MUX=y
+CONFIG_SOC_GPIO_CLOCKOUT_CHANNEL_NUM=3
 CONFIG_SOC_I2C_NUM=2
+CONFIG_SOC_HP_I2C_NUM=2
 CONFIG_SOC_I2C_FIFO_LEN=32
 CONFIG_SOC_I2C_CMD_REG_NUM=16
 CONFIG_SOC_I2C_SUPPORT_SLAVE=y
@@ -164,9 +172,9 @@ CONFIG_SOC_TIMER_GROUP_TIMERS_PER_GROUP=2
 CONFIG_SOC_TIMER_GROUP_COUNTER_BIT_WIDTH=64
 CONFIG_SOC_TIMER_GROUP_TOTAL_TIMERS=4
 CONFIG_SOC_TIMER_GROUP_SUPPORT_APB=y
-CONFIG_SOC_TOUCH_VERSION_1=y
+CONFIG_SOC_TOUCH_SENSOR_VERSION=1
 CONFIG_SOC_TOUCH_SENSOR_NUM=10
-CONFIG_SOC_TOUCH_PAD_MEASURE_WAIT_MAX=0xFF
+CONFIG_SOC_TOUCH_SAMPLER_NUM=1
 CONFIG_SOC_TWAI_CONTROLLER_NUM=1
 CONFIG_SOC_TWAI_BRP_MIN=2
 CONFIG_SOC_TWAI_CLK_SUPPORT_APB=y
@@ -222,14 +230,16 @@ CONFIG_SOC_BLE_SUPPORTED=y
 CONFIG_SOC_BLE_MESH_SUPPORTED=y
 CONFIG_SOC_BT_CLASSIC_SUPPORTED=y
 CONFIG_SOC_BLUFI_SUPPORTED=y
+CONFIG_SOC_BT_H2C_ENC_KEY_CTRL_ENH_VSC_SUPPORTED=y
 CONFIG_SOC_ULP_HAS_ADC=y
 CONFIG_SOC_PHY_COMBO_MODULE=y
+CONFIG_SOC_EMAC_RMII_CLK_OUT_INTERNAL_LOOPBACK=y
 CONFIG_IDF_CMAKE=y
 CONFIG_IDF_TOOLCHAIN="gcc"
 CONFIG_IDF_TARGET_ARCH_XTENSA=y
 CONFIG_IDF_TARGET_ARCH="xtensa"
 CONFIG_IDF_TARGET="esp32"
-CONFIG_IDF_INIT_VERSION="5.2.3"
+CONFIG_IDF_INIT_VERSION="5.3.0"
 CONFIG_IDF_TARGET_ESP32=y
 CONFIG_IDF_FIRMWARE_CHIP_ID=0x0000

@@ -319,9 +329,13 @@ CONFIG_ESP_ROM_HAS_MZ_CRC32=y
 CONFIG_ESP_ROM_HAS_JPEG_DECODE=y
 CONFIG_ESP_ROM_HAS_UART_BUF_SWITCH=y
 CONFIG_ESP_ROM_NEEDS_SWSETUP_WORKAROUND=y
+CONFIG_ESP_ROM_HAS_NEWLIB=y
 CONFIG_ESP_ROM_HAS_NEWLIB_NANO_FORMAT=y
+CONFIG_ESP_ROM_HAS_NEWLIB_32BIT_TIME=y
 CONFIG_ESP_ROM_HAS_SW_FLOAT=y
+CONFIG_ESP_ROM_USB_OTG_NUM=-1
 CONFIG_ESP_ROM_USB_SERIAL_DEVICE_NUM=-1
+CONFIG_ESP_ROM_SUPPORT_DEEP_SLEEP_WAKEUP_STUB=y

 #
 # Serial flasher config
@@ -373,6 +387,8 @@ CONFIG_PARTITION_TABLE_MD5=y
 #
 # DIY Power PCB Configuration
 #
+CONFIG_V2=y
+# CONFIG_V1 is not set
 CONFIG_ENV_GPIO_RANGE_MIN=0
 CONFIG_ENV_GPIO_RANGE_MAX=39
 CONFIG_ENV_GPIO_IN_RANGE_MAX=39
@@ -391,18 +407,24 @@ CONFIG_TORQUE_ADC=4
 # Highside pin configurations (HIN)
 #
 CONFIG_HIN_U_V_W_GPIO="26, 14, 13"
-CONFIG_ENABLE_PWM_HIN=y
-CONFIG_FREQ_PWM_HIN=20000
-CONFIG_DUTY_PWM_HIN=50
 # end of Highside pin configurations (HIN)

 #
 # Lowside pin configurations (LIN)
 #
 CONFIG_LIN_U_V_W_GPIO="25, 27, 12"
-# CONFIG_ENABLE_PWM_LIN is not set
 # end of Lowside pin configurations (LIN)

+#
+# PWM configuration
+#
+CONFIG_ENABLE_PWM=y
+CONFIG_TIMER_BASE_FREQ=40000000
+CONFIG_FREQ_PWM=20000
+CONFIG_DUTY_PWM=50
+CONFIG_DEAD_TIME_PWM=0
+# end of PWM configuration
+
 #
 # Hall Sensor pin configurations
 #
@@ -412,13 +434,13 @@ CONFIG_HALL_A_B_C_GPIO="4, 16, 17"
 #
 # Input pin configurations
 #
-CONFIG_IN_ENCODER_GPIO="3, 2, 23"
-CONFIG_BUTTON_GPIO=1
+CONFIG_IN_ENCODER_GPIO="23,1,3"
+CONFIG_IN_ENCODER_GPIO_V2="23, 1, 3"
+CONFIG_IN_ENCODER_DEBOUNCE_TIME=500
+CONFIG_ESP_LED=2
 CONFIG_EXT_ENCODER_GPIO="16, 18, 5"
 CONFIG_RFE_GPIO=15
 # end of Input pin configurations
-
-CONFIG_BLINK_PERIOD=1000
 # end of DIY Power PCB Configuration

 #
@@ -429,11 +451,11 @@ CONFIG_I2C_INTERFACE=y
 # CONFIG_SPI_INTERFACE is not set
 # CONFIG_SSD1306_128x32 is not set
 CONFIG_SSD1306_128x64=y
-CONFIG_OFFSETX=0
+CONFIG_OFFSETX=2
 # CONFIG_FLIP is not set
 CONFIG_SCL_GPIO=22
 CONFIG_SDA_GPIO=21
-CONFIG_RESET_GPIO=15
+CONFIG_RESET_GPIO=-1
 CONFIG_I2C_PORT_0=y
 # CONFIG_I2C_PORT_1 is not set
 # CONFIG_LEGACY_DRIVER is not set
@@ -492,35 +514,16 @@ CONFIG_APPTRACE_LOCK_ENABLE=y
 CONFIG_BT_ALARM_MAX_NUM=50
 # end of Bluetooth

+#
+# Console Library
+#
+# CONFIG_CONSOLE_SORTED_HELP is not set
+# end of Console Library
+
 #
 # Driver Configurations
 #

-#
-# Legacy ADC Configuration
-#
-CONFIG_ADC_DISABLE_DAC=y
-# CONFIG_ADC_SUPPRESS_DEPRECATE_WARN is not set
-
-#
-# Legacy ADC Calibration Configuration
-#
-CONFIG_ADC_CAL_EFUSE_TP_ENABLE=y
-CONFIG_ADC_CAL_EFUSE_VREF_ENABLE=y
-CONFIG_ADC_CAL_LUT_ENABLE=y
-# CONFIG_ADC_CALI_SUPPRESS_DEPRECATE_WARN is not set
-# end of Legacy ADC Calibration Configuration
-# end of Legacy ADC Configuration
-
-#
-# SPI Configuration
-#
-# CONFIG_SPI_MASTER_IN_IRAM is not set
-CONFIG_SPI_MASTER_ISR_IN_IRAM=y
-# CONFIG_SPI_SLAVE_IN_IRAM is not set
-CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
-# end of SPI Configuration
-
 #
 # TWAI Configuration
 #
@@ -533,93 +536,62 @@ CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM=y
 # end of TWAI Configuration

 #
-# UART Configuration
+# Legacy ADC Driver Configuration
 #
-# CONFIG_UART_ISR_IN_IRAM is not set
-# end of UART Configuration
+CONFIG_ADC_DISABLE_DAC=y
+# CONFIG_ADC_SUPPRESS_DEPRECATE_WARN is not set

 #
-# GPIO Configuration
+# Legacy ADC Calibration Configuration
 #
-# CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL is not set
-# CONFIG_GPIO_CTRL_FUNC_IN_IRAM is not set
-# end of GPIO Configuration
+CONFIG_ADC_CAL_EFUSE_TP_ENABLE=y
+CONFIG_ADC_CAL_EFUSE_VREF_ENABLE=y
+CONFIG_ADC_CAL_LUT_ENABLE=y
+# CONFIG_ADC_CALI_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy ADC Calibration Configuration
+# end of Legacy ADC Driver Configuration

 #
-# Sigma Delta Modulator Configuration
+# Legacy DAC Driver Configurations
 #
-# CONFIG_SDM_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_SDM_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_SDM_ENABLE_DEBUG_LOG is not set
-# end of Sigma Delta Modulator Configuration
-
-#
-# GPTimer Configuration
-#
-CONFIG_GPTIMER_ISR_HANDLER_IN_IRAM=y
-# CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_GPTIMER_ISR_IRAM_SAFE is not set
-# CONFIG_GPTIMER_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_GPTIMER_ENABLE_DEBUG_LOG is not set
-# end of GPTimer Configuration
-
-#
-# PCNT Configuration
-#
-# CONFIG_PCNT_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_PCNT_ISR_IRAM_SAFE is not set
-# CONFIG_PCNT_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_PCNT_ENABLE_DEBUG_LOG is not set
-# end of PCNT Configuration
-
-#
-# RMT Configuration
-#
-# CONFIG_RMT_ISR_IRAM_SAFE is not set
-# CONFIG_RMT_RECV_FUNC_IN_IRAM is not set
-# CONFIG_RMT_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_RMT_ENABLE_DEBUG_LOG is not set
-# end of RMT Configuration
-
-#
-# MCPWM Configuration
-#
-# CONFIG_MCPWM_ISR_IRAM_SAFE is not set
-# CONFIG_MCPWM_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_MCPWM_ENABLE_DEBUG_LOG is not set
-# end of MCPWM Configuration
-
-#
-# I2S Configuration
-#
-# CONFIG_I2S_ISR_IRAM_SAFE is not set
-# CONFIG_I2S_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_I2S_ENABLE_DEBUG_LOG is not set
-# end of I2S Configuration
-
-#
-# DAC Configuration
-#
-# CONFIG_DAC_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_DAC_ISR_IRAM_SAFE is not set
 # CONFIG_DAC_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_DAC_ENABLE_DEBUG_LOG is not set
-CONFIG_DAC_DMA_AUTO_16BIT_ALIGN=y
-# end of DAC Configuration
+# end of Legacy DAC Driver Configurations

 #
-# LEDC Configuration
+# Legacy MCPWM Driver Configurations
 #
-# CONFIG_LEDC_CTRL_FUNC_IN_IRAM is not set
-# end of LEDC Configuration
+# CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy MCPWM Driver Configurations

 #
-# I2C Configuration
+# Legacy Timer Group Driver Configurations
 #
-# CONFIG_I2C_ISR_IRAM_SAFE is not set
-# CONFIG_I2C_ENABLE_DEBUG_LOG is not set
-# end of I2C Configuration
+# CONFIG_GPTIMER_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy Timer Group Driver Configurations
+
+#
+# Legacy RMT Driver Configurations
+#
+# CONFIG_RMT_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy RMT Driver Configurations
+
+#
+# Legacy I2S Driver Configurations
+#
+# CONFIG_I2S_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy I2S Driver Configurations
+
+#
+# Legacy PCNT Driver Configurations
+#
+# CONFIG_PCNT_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy PCNT Driver Configurations
+
+#
+# Legacy SDM Driver Configurations
+#
+# CONFIG_SDM_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy SDM Driver Configurations
 # end of Driver Configurations

 #
@@ -639,7 +611,9 @@ CONFIG_EFUSE_MAX_BLK_LEN=192
 CONFIG_ESP_TLS_USING_MBEDTLS=y
 # CONFIG_ESP_TLS_USE_SECURE_ELEMENT is not set
 # CONFIG_ESP_TLS_CLIENT_SESSION_TICKETS is not set
-# CONFIG_ESP_TLS_SERVER is not set
+# CONFIG_ESP_TLS_SERVER_SESSION_TICKETS is not set
+# CONFIG_ESP_TLS_SERVER_CERT_SELECT_HOOK is not set
+# CONFIG_ESP_TLS_SERVER_MIN_AUTH_MODE_OPTIONAL is not set
 # CONFIG_ESP_TLS_PSK_VERIFICATION is not set
 # CONFIG_ESP_TLS_INSECURE is not set
 # end of ESP-TLS
@@ -659,11 +633,13 @@ CONFIG_ADC_CALI_LUT_ENABLE=y
 # end of ADC Calibration Configurations

 CONFIG_ADC_DISABLE_DAC_OUTPUT=y
+# CONFIG_ADC_ENABLE_DEBUG_LOG is not set
 # end of ADC and ADC Calibration

 #
 # Wireless Coexistence
 #
+CONFIG_ESP_COEX_ENABLED=y
 # end of Wireless Coexistence

 #
@@ -672,6 +648,97 @@ CONFIG_ADC_DISABLE_DAC_OUTPUT=y
 CONFIG_ESP_ERR_TO_NAME_LOOKUP=y
 # end of Common ESP-related

+#
+# ESP-Driver:DAC Configurations
+#
+# CONFIG_DAC_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_DAC_ISR_IRAM_SAFE is not set
+# CONFIG_DAC_ENABLE_DEBUG_LOG is not set
+CONFIG_DAC_DMA_AUTO_16BIT_ALIGN=y
+# end of ESP-Driver:DAC Configurations
+
+#
+# ESP-Driver:GPIO Configurations
+#
+# CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL is not set
+# CONFIG_GPIO_CTRL_FUNC_IN_IRAM is not set
+# end of ESP-Driver:GPIO Configurations
+
+#
+# ESP-Driver:GPTimer Configurations
+#
+CONFIG_GPTIMER_ISR_HANDLER_IN_IRAM=y
+# CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_GPTIMER_ISR_IRAM_SAFE is not set
+# CONFIG_GPTIMER_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:GPTimer Configurations
+
+#
+# ESP-Driver:I2C Configurations
+#
+# CONFIG_I2C_ISR_IRAM_SAFE is not set
+# CONFIG_I2C_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:I2C Configurations
+
+#
+# ESP-Driver:I2S Configurations
+#
+# CONFIG_I2S_ISR_IRAM_SAFE is not set
+# CONFIG_I2S_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:I2S Configurations
+
+#
+# ESP-Driver:LEDC Configurations
+#
+# CONFIG_LEDC_CTRL_FUNC_IN_IRAM is not set
+# end of ESP-Driver:LEDC Configurations
+
+#
+# ESP-Driver:MCPWM Configurations
+#
+# CONFIG_MCPWM_ISR_IRAM_SAFE is not set
+# CONFIG_MCPWM_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_MCPWM_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:MCPWM Configurations
+
+#
+# ESP-Driver:PCNT Configurations
+#
+# CONFIG_PCNT_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_PCNT_ISR_IRAM_SAFE is not set
+# CONFIG_PCNT_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:PCNT Configurations
+
+#
+# ESP-Driver:RMT Configurations
+#
+# CONFIG_RMT_ISR_IRAM_SAFE is not set
+# CONFIG_RMT_RECV_FUNC_IN_IRAM is not set
+# CONFIG_RMT_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:RMT Configurations
+
+#
+# ESP-Driver:Sigma Delta Modulator Configurations
+#
+# CONFIG_SDM_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_SDM_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:Sigma Delta Modulator Configurations
+
+#
+# ESP-Driver:SPI Configurations
+#
+# CONFIG_SPI_MASTER_IN_IRAM is not set
+CONFIG_SPI_MASTER_ISR_IN_IRAM=y
+# CONFIG_SPI_SLAVE_IN_IRAM is not set
+CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
+# end of ESP-Driver:SPI Configurations
+
+#
+# ESP-Driver:UART Configurations
+#
+# CONFIG_UART_ISR_IN_IRAM is not set
+# end of ESP-Driver:UART Configurations
+
 #
 # Ethernet
 #
@@ -716,6 +783,7 @@ CONFIG_ESP_GDBSTUB_MAX_TASKS=32
 CONFIG_ESP_HTTP_CLIENT_ENABLE_HTTPS=y
 # CONFIG_ESP_HTTP_CLIENT_ENABLE_BASIC_AUTH is not set
 # CONFIG_ESP_HTTP_CLIENT_ENABLE_DIGEST_AUTH is not set
+# CONFIG_ESP_HTTP_CLIENT_ENABLE_CUSTOM_TRANSPORT is not set
 # end of ESP HTTP client

 #
@@ -765,12 +833,6 @@ CONFIG_ESP_REV_MIN_FULL=0
 #
 CONFIG_ESP32_REV_MAX_FULL=399
 CONFIG_ESP_REV_MAX_FULL=399
-CONFIG_ESP_EFUSE_BLOCK_REV_MIN_FULL=0
-CONFIG_ESP_EFUSE_BLOCK_REV_MAX_FULL=99
-
-#
-# Maximum Supported ESP32 eFuse Block Revision (eFuse Block Rev v0.99)
-#
 # end of Chip revision

 #
@@ -781,6 +843,7 @@ CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_AP=y
 CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y
 CONFIG_ESP_MAC_ADDR_UNIVERSE_ETH=y
 CONFIG_ESP_MAC_UNIVERSAL_MAC_ADDRESSES_FOUR=y
+CONFIG_ESP_MAC_UNIVERSAL_MAC_ADDRESSES=4
 # CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_TWO is not set
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_FOUR=y
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=4
@@ -826,6 +889,8 @@ CONFIG_XTAL_FREQ_40=y
 # CONFIG_XTAL_FREQ_AUTO is not set
 CONFIG_XTAL_FREQ=40
 # end of Main XTAL Config
+
+CONFIG_ESP_SPI_BUS_LOCK_ISR_FUNCS_IN_IRAM=y
 # end of Hardware Settings

 #
@@ -854,7 +919,6 @@ CONFIG_ESP_NETIF_USES_TCPIP_WITH_BSD_API=y
 # CONFIG_ESP_NETIF_RECEIVE_REPORT_ERRORS is not set
 # CONFIG_ESP_NETIF_L2_TAP is not set
 # CONFIG_ESP_NETIF_BRIDGE_EN is not set
-# CONFIG_ESP_NETIF_SET_DNS_PER_DEFAULT_NETIF is not set
 # end of ESP NETIF Adapter

 #
@@ -865,6 +929,7 @@ CONFIG_ESP_NETIF_USES_TCPIP_WITH_BSD_API=y
 #
 # PHY
 #
+CONFIG_ESP_PHY_ENABLED=y
 CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y
 # CONFIG_ESP_PHY_INIT_DATA_IN_PARTITION is not set
 CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20
@@ -946,6 +1011,7 @@ CONFIG_ESP_CONSOLE_UART_DEFAULT=y
 # CONFIG_ESP_CONSOLE_NONE is not set
 CONFIG_ESP_CONSOLE_UART=y
 CONFIG_ESP_CONSOLE_UART_NUM=0
+CONFIG_ESP_CONSOLE_ROM_SERIAL_PORT_NUM=0
 CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
 CONFIG_ESP_INT_WDT=y
 CONFIG_ESP_INT_WDT_TIMEOUT_MS=300
@@ -990,7 +1056,7 @@ CONFIG_ESP_IPC_ISR_ENABLE=y
 # end of IPC (Inter-Processor Call)

 #
-# High resolution timer (esp_timer)
+# ESP Timer (High Resolution Timer)
 #
 # CONFIG_ESP_TIMER_PROFILING is not set
 CONFIG_ESP_TIME_FUNCS_USE_RTC_TIMER=y
@@ -1000,11 +1066,10 @@ CONFIG_ESP_TIMER_INTERRUPT_LEVEL=1
 # CONFIG_ESP_TIMER_SHOW_EXPERIMENTAL is not set
 CONFIG_ESP_TIMER_TASK_AFFINITY=0x0
 CONFIG_ESP_TIMER_TASK_AFFINITY_CPU0=y
-CONFIG_ESP_TIMER_ISR_AFFINITY=0x1
 CONFIG_ESP_TIMER_ISR_AFFINITY_CPU0=y
 # CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD is not set
 CONFIG_ESP_TIMER_IMPL_TG0_LAC=y
-# end of High resolution timer (esp_timer)
+# end of ESP Timer (High Resolution Timer)

 #
 # Wi-Fi
@@ -1115,6 +1180,8 @@ CONFIG_FATFS_PER_FILE_CACHE=y
 # CONFIG_FATFS_USE_FASTSEEK is not set
 CONFIG_FATFS_VFS_FSTAT_BLKSIZE=0
 # CONFIG_FATFS_IMMEDIATE_FSYNC is not set
+# CONFIG_FATFS_USE_LABEL is not set
+CONFIG_FATFS_LINK_LOCK=y
 # end of FAT Filesystem support

 #
@@ -1136,14 +1203,18 @@ CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536
 # CONFIG_FREERTOS_USE_TICK_HOOK is not set
 CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16
 # CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY is not set
-CONFIG_FREERTOS_USE_TIMERS=y
 CONFIG_FREERTOS_TIMER_SERVICE_TASK_NAME="Tmr Svc"
+# CONFIG_FREERTOS_TIMER_TASK_AFFINITY_CPU0 is not set
+# CONFIG_FREERTOS_TIMER_TASK_AFFINITY_CPU1 is not set
+CONFIG_FREERTOS_TIMER_TASK_NO_AFFINITY=y
+CONFIG_FREERTOS_TIMER_SERVICE_TASK_CORE_AFFINITY=0x7FFFFFFF
 CONFIG_FREERTOS_TIMER_TASK_PRIORITY=1
 CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=2048
 CONFIG_FREERTOS_TIMER_QUEUE_LENGTH=10
 CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE=0
 CONFIG_FREERTOS_TASK_NOTIFICATION_ARRAY_ENTRIES=1
 # CONFIG_FREERTOS_USE_TRACE_FACILITY is not set
+# CONFIG_FREERTOS_USE_LIST_DATA_INTEGRITY_CHECK_BYTES is not set
 # CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS is not set
 # CONFIG_FREERTOS_USE_APPLICATION_TASK_TAG is not set
 # end of Kernel
@@ -1174,6 +1245,7 @@ CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION=y
 CONFIG_FREERTOS_DEBUG_OCDAWARE=y
 CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT=y
 CONFIG_FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH=y
+CONFIG_FREERTOS_NUMBER_OF_CORES=2
 # end of FreeRTOS

 #
@@ -1301,6 +1373,7 @@ CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
 CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5760
 CONFIG_LWIP_TCP_WND_DEFAULT=5760
 CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
+CONFIG_LWIP_TCP_ACCEPTMBOX_SIZE=6
 CONFIG_LWIP_TCP_QUEUE_OOSEQ=y
 CONFIG_LWIP_TCP_OOSEQ_TIMEOUT=6
 CONFIG_LWIP_TCP_OOSEQ_MAX_PBUFS=4
@@ -1331,9 +1404,6 @@ CONFIG_LWIP_TCPIP_TASK_AFFINITY_NO_AFFINITY=y
 # CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU0 is not set
 # CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU1 is not set
 CONFIG_LWIP_TCPIP_TASK_AFFINITY=0x7FFFFFFF
-CONFIG_LWIP_IPV6_ND6_NUM_PREFIXES=5
-CONFIG_LWIP_IPV6_ND6_NUM_ROUTERS=3
-CONFIG_LWIP_IPV6_ND6_NUM_DESTINATIONS=10
 # CONFIG_LWIP_PPP_SUPPORT is not set
 CONFIG_LWIP_IPV6_MEMP_NUM_ND6_QUEUE=3
 CONFIG_LWIP_IPV6_ND6_NUM_NEIGHBORS=5
@@ -1359,15 +1429,15 @@ CONFIG_LWIP_MAX_RAW_PCBS=16
 CONFIG_LWIP_SNTP_MAX_SERVERS=1
 # CONFIG_LWIP_DHCP_GET_NTP_SRV is not set
 CONFIG_LWIP_SNTP_UPDATE_DELAY=3600000
+CONFIG_LWIP_SNTP_STARTUP_DELAY=y
+CONFIG_LWIP_SNTP_MAXIMUM_STARTUP_DELAY=5000
 # end of SNTP

 #
 # DNS
 #
-CONFIG_LWIP_DNS_MAX_HOST_IP=1
 CONFIG_LWIP_DNS_MAX_SERVERS=3
 # CONFIG_LWIP_FALLBACK_DNS_SERVER_SUPPORT is not set
-# CONFIG_LWIP_DNS_SETSERVER_WITH_NETIF is not set
 # end of DNS

 CONFIG_LWIP_BRIDGEIF_MAX_PORTS=7
@@ -1430,13 +1500,14 @@ CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
 # CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
+# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEPRECATED_LIST is not set
 CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
 # end of Certificate Bundle

 # CONFIG_MBEDTLS_ECP_RESTARTABLE is not set
 CONFIG_MBEDTLS_CMAC_C=y
 CONFIG_MBEDTLS_HARDWARE_AES=y
-# CONFIG_MBEDTLS_GCM_SUPPORT_NON_AES_CIPHER is not set
+CONFIG_MBEDTLS_GCM_SUPPORT_NON_AES_CIPHER=y
 CONFIG_MBEDTLS_HARDWARE_MPI=y
 # CONFIG_MBEDTLS_LARGE_KEY_SOFTWARE_MPI is not set
 CONFIG_MBEDTLS_HARDWARE_SHA=y
@@ -1639,6 +1710,7 @@ CONFIG_SPI_FLASH_BROWNOUT_RESET=y
 #
 # Features here require specific hardware (READ DOCS FIRST!)
 #
+CONFIG_SPI_FLASH_SUSPEND_TSUS_VAL_US=50
 # end of Optional and Experimental Features (READ DOCS FIRST)
 # end of Main Flash configuration

@@ -1733,6 +1805,11 @@ CONFIG_WS_BUFFER_SIZE=1024
 # Ultra Low Power (ULP) Co-processor
 #
 # CONFIG_ULP_COPROC_ENABLED is not set
+
+#
+# ULP Debugging Options
+#
+# end of ULP Debugging Options
 # end of Ultra Low Power (ULP) Co-processor

 #