diff --git a/src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp b/src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp
index 7f0cc310..5ad01b2a 100644
--- a/src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp
+++ b/src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp
@@ -1,89 +1,20 @@
 #include "esp32_adc_driver.h"
 
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(CONFIG_IDF_TARGET_ESP32S2) && !defined(CONFIG_IDF_TARGET_ESP32S3) && !defined(SIMPLEFOC_ESP32_USELEDC)
-
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "rom/ets_sys.h"
-#include "esp_attr.h"
-//#include "esp_intr.h" deprecated
-#include "esp_intr_alloc.h"
-#include "soc/rtc_io_reg.h"
-#include "soc/rtc_cntl_reg.h"
-#include "soc/sens_reg.h"
-
-static uint8_t __analogAttenuation = 3;//11db
-static uint8_t __analogWidth = 3;//12 bits
-static uint8_t __analogCycles = 8;
-static uint8_t __analogSamples = 0;//1 sample
-static uint8_t __analogClockDiv = 1;
-
-// Width of returned answer ()
-static uint8_t __analogReturnedWidth = 12;
-
-void __analogSetWidth(uint8_t bits){
-    if(bits < 9){
-        bits = 9;
-    } else if(bits > 12){
-        bits = 12;
-    }
-    __analogReturnedWidth = bits;
-    __analogWidth = bits - 9;
-    SET_PERI_REG_BITS(SENS_SAR_START_FORCE_REG, SENS_SAR1_BIT_WIDTH, __analogWidth, SENS_SAR1_BIT_WIDTH_S);
-    SET_PERI_REG_BITS(SENS_SAR_READ_CTRL_REG, SENS_SAR1_SAMPLE_BIT, __analogWidth, SENS_SAR1_SAMPLE_BIT_S);
-
-    SET_PERI_REG_BITS(SENS_SAR_START_FORCE_REG, SENS_SAR2_BIT_WIDTH, __analogWidth, SENS_SAR2_BIT_WIDTH_S);
-    SET_PERI_REG_BITS(SENS_SAR_READ_CTRL2_REG, SENS_SAR2_SAMPLE_BIT, __analogWidth, SENS_SAR2_SAMPLE_BIT_S);
-}
 
-void __analogSetCycles(uint8_t cycles){
-    __analogCycles = cycles;
-    SET_PERI_REG_BITS(SENS_SAR_READ_CTRL_REG, SENS_SAR1_SAMPLE_CYCLE, __analogCycles, SENS_SAR1_SAMPLE_CYCLE_S);
-    SET_PERI_REG_BITS(SENS_SAR_READ_CTRL2_REG, SENS_SAR2_SAMPLE_CYCLE, __analogCycles, SENS_SAR2_SAMPLE_CYCLE_S);
-}
+// maybe go to the fast ADC in future even outside the MCPWM (we'd have to remove the SOC_MCPWM_SUPPORTED flag)
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)
 
-void __analogSetSamples(uint8_t samples){
-    if(!samples){
-        return;
-    }
-    __analogSamples = samples - 1;
-    SET_PERI_REG_BITS(SENS_SAR_READ_CTRL_REG, SENS_SAR1_SAMPLE_NUM, __analogSamples, SENS_SAR1_SAMPLE_NUM_S);
-    SET_PERI_REG_BITS(SENS_SAR_READ_CTRL2_REG, SENS_SAR2_SAMPLE_NUM, __analogSamples, SENS_SAR2_SAMPLE_NUM_S);
-}
 
-void __analogSetClockDiv(uint8_t clockDiv){
-    if(!clockDiv){
-        return;
-    }
-    __analogClockDiv = clockDiv;
-    SET_PERI_REG_BITS(SENS_SAR_READ_CTRL_REG, SENS_SAR1_CLK_DIV, __analogClockDiv, SENS_SAR1_CLK_DIV_S);
-    SET_PERI_REG_BITS(SENS_SAR_READ_CTRL2_REG, SENS_SAR2_CLK_DIV, __analogClockDiv, SENS_SAR2_CLK_DIV_S);
-}
+#ifdef CONFIG_IDF_TARGET_ESP32 // if esp32 variant
 
-void __analogSetAttenuation(uint8_t attenuation)
-{
-    __analogAttenuation = attenuation & 3;
-    uint32_t att_data = 0;
-    int i = 10;
-    while(i--){
-        att_data |= __analogAttenuation << (i * 2);
-    }
-    WRITE_PERI_REG(SENS_SAR_ATTEN1_REG, att_data & 0xFFFF);//ADC1 has 8 channels
-    WRITE_PERI_REG(SENS_SAR_ATTEN2_REG, att_data);
-}
-
-void IRAM_ATTR __analogInit(){
-    static bool initialized = false;
-    if(initialized){
-        return;
-    }
-
-    __analogSetAttenuation(__analogAttenuation);
-    __analogSetCycles(__analogCycles);
-    __analogSetSamples(__analogSamples + 1);//in samples
-    __analogSetClockDiv(__analogClockDiv);
-    __analogSetWidth(__analogWidth + 9);//in bits
+#include "soc/sens_reg.h"
 
+// configure the ADCs in RTC mode
+// saves about 3us per call 
+// going from 12us to 9us
+void __configFastADCs(){
+    
+    // configure both ADCs in RTC mode
     SET_PERI_REG_MASK(SENS_SAR_READ_CTRL_REG, SENS_SAR1_DATA_INV);
     SET_PERI_REG_MASK(SENS_SAR_READ_CTRL2_REG, SENS_SAR2_DATA_INV);
 
@@ -100,59 +31,17 @@ void IRAM_ATTR __analogInit(){
     SET_PERI_REG_BITS(SENS_SAR_MEAS_WAIT1_REG, SENS_SAR_AMP_WAIT2, 0x1, SENS_SAR_AMP_WAIT2_S);
     SET_PERI_REG_BITS(SENS_SAR_MEAS_WAIT2_REG, SENS_SAR_AMP_WAIT3, 0x1, SENS_SAR_AMP_WAIT3_S);
     while (GET_PERI_REG_BITS2(SENS_SAR_SLAVE_ADDR1_REG, 0x7, SENS_MEAS_STATUS_S) != 0); //wait det_fsm==
-
-    initialized = true;
-}
-
-void __analogSetPinAttenuation(uint8_t pin, uint8_t attenuation)
-{
-    int8_t channel = digitalPinToAnalogChannel(pin);
-    if(channel < 0 || attenuation > 3){
-        return ;
-    }
-    __analogInit();
-    if(channel > 7){
-        SET_PERI_REG_BITS(SENS_SAR_ATTEN2_REG, 3, attenuation, ((channel - 10) * 2));
-    } else {
-        SET_PERI_REG_BITS(SENS_SAR_ATTEN1_REG, 3, attenuation, (channel * 2));
-    }
 }
 
-bool IRAM_ATTR __adcAttachPin(uint8_t pin){
-
-    int8_t channel = digitalPinToAnalogChannel(pin);
-    if(channel < 0){
-        return false;//not adc pin
-    }
-
-    int8_t pad = digitalPinToTouchChannel(pin);
-    if(pad >= 0){
-        uint32_t touch = READ_PERI_REG(SENS_SAR_TOUCH_ENABLE_REG);
-        if(touch & (1 << pad)){
-            touch &= ~((1 << (pad + SENS_TOUCH_PAD_OUTEN2_S))
-                    | (1 << (pad + SENS_TOUCH_PAD_OUTEN1_S))
-                    | (1 << (pad + SENS_TOUCH_PAD_WORKEN_S)));
-            WRITE_PERI_REG(SENS_SAR_TOUCH_ENABLE_REG, touch);
-        }
-    } else if(pin == 25){
-        CLEAR_PERI_REG_MASK(RTC_IO_PAD_DAC1_REG, RTC_IO_PDAC1_XPD_DAC | RTC_IO_PDAC1_DAC_XPD_FORCE); //stop dac1
-    } else if(pin == 26){
-        CLEAR_PERI_REG_MASK(RTC_IO_PAD_DAC2_REG, RTC_IO_PDAC2_XPD_DAC | RTC_IO_PDAC2_DAC_XPD_FORCE); //stop dac2
-    }
-
-    pinMode(pin, ANALOG);
-
-    __analogInit();
-    return true;
-}
-
-bool IRAM_ATTR __adcStart(uint8_t pin){
 
+uint16_t IRAM_ATTR adcRead(uint8_t pin)
+{
     int8_t channel = digitalPinToAnalogChannel(pin);
     if(channel < 0){
         return false;//not adc pin
     }
 
+    // start teh ADC conversion
     if(channel > 9){
         CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M);
         SET_PERI_REG_BITS(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD, (1 << (channel - 10)), SENS_SAR2_EN_PAD_S);
@@ -162,57 +51,51 @@ bool IRAM_ATTR __adcStart(uint8_t pin){
         SET_PERI_REG_BITS(SENS_SAR_MEAS_START1_REG, SENS_SAR1_EN_PAD, (1 << channel), SENS_SAR1_EN_PAD_S);
         SET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_START_SAR_M);
     }
-    return true;
-}
-
-bool IRAM_ATTR __adcBusy(uint8_t pin){
-
-    int8_t channel = digitalPinToAnalogChannel(pin);
-    if(channel < 0){
-        return false;//not adc pin
-    }
-
-    if(channel > 7){
-        return (GET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_DONE_SAR) == 0);
-    }
-    return (GET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_DONE_SAR) == 0);
-}
-
-uint16_t IRAM_ATTR __adcEnd(uint8_t pin)
-{
 
     uint16_t value = 0;
-    int8_t channel = digitalPinToAnalogChannel(pin);
-    if(channel < 0){
-        return 0;//not adc pin
-    }
+
     if(channel > 7){
-        while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_DONE_SAR) == 0); //wait for conversion
+        //wait for conversion
+        while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_DONE_SAR) == 0); 
+        // read the value
         value = GET_PERI_REG_BITS2(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_DATA_SAR, SENS_MEAS2_DATA_SAR_S);
     } else {
-        while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_DONE_SAR) == 0); //wait for conversion
+        //wait for conversion
+        while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_DONE_SAR) == 0); 
+        // read the value
         value = GET_PERI_REG_BITS2(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_DATA_SAR, SENS_MEAS1_DATA_SAR_S);
     }
 
-    // Shift result if necessary
-    uint8_t from = __analogWidth + 9;
-    if (from == __analogReturnedWidth) {
-        return value;
-    }
-    if (from > __analogReturnedWidth) {
-        return value >> (from - __analogReturnedWidth);
-    }
-    return value << (__analogReturnedWidth - from);
+    // return value
+    return value;
 }
 
-void __analogReadResolution(uint8_t bits)
-{
-    if(!bits || bits > 16){
-        return;
-    }
-    __analogSetWidth(bits);         // hadware from 9 to 12
-    __analogReturnedWidth = bits;   // software from 1 to 16
-}
+#elif (defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)) // if esp32 s2 or s3 variants
+
+#include "soc/sens_reg.h"
+
+
+// configure the ADCs in RTC mode 
+// no real gain 
+// void __configFastADCs(){
+    
+//     SET_PERI_REG_MASK(SENS_SAR_READER1_CTRL_REG, SENS_SAR1_DATA_INV);
+//     SET_PERI_REG_MASK(SENS_SAR_READER2_CTRL_REG, SENS_SAR2_DATA_INV);
+
+//     SET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_FORCE_M); //SAR ADC1 controller (in RTC) is started by SW
+//     SET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_SAR1_EN_PAD_FORCE_M); //SAR ADC1 pad enable bitmap is controlled by SW
+//     SET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_FORCE_M); //SAR ADC2 controller (in RTC) is started by SW
+//     SET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_SAR2_EN_PAD_FORCE_M); //SAR ADC2 pad enable bitmap is controlled by SW
+
+//     CLEAR_PERI_REG_MASK(SENS_SAR_POWER_XPD_SAR_REG, SENS_FORCE_XPD_SAR_M); //force XPD_SAR=0, use XPD_FSM
+//     SET_PERI_REG_BITS(SENS_SAR_POWER_XPD_SAR_REG, SENS_FORCE_XPD_AMP, 0x2, SENS_FORCE_XPD_AMP_S); //force XPD_AMP=0
+
+//     CLEAR_PERI_REG_MASK(SENS_SAR_AMP_CTRL3_REG, 0xfff << SENS_AMP_RST_FB_FSM_S);  //clear FSM
+//     SET_PERI_REG_BITS(SENS_SAR_AMP_CTRL1_REG, SENS_SAR_AMP_WAIT1, 0x1, SENS_SAR_AMP_WAIT1_S);
+//     SET_PERI_REG_BITS(SENS_SAR_AMP_CTRL1_REG, SENS_SAR_AMP_WAIT2, 0x1, SENS_SAR_AMP_WAIT2_S);
+//     SET_PERI_REG_BITS(SENS_SAR_POWER_XPD_SAR_REG, SENS_SAR_AMP_WAIT3, 0x1, SENS_SAR_AMP_WAIT3_S);
+//     while (GET_PERI_REG_BITS2(SENS_SAR_SLAVE_ADDR1_REG, 0x7, SENS_SARADC_MEAS_STATUS_S) != 0); //wait det_fsm==
+// }
 
 uint16_t IRAM_ATTR adcRead(uint8_t pin)
 {
@@ -221,38 +104,66 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin)
         return false;//not adc pin
     }
 
-    __analogInit();
-
+    // start the ADC conversion
     if(channel > 9){
-        CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M);
-        SET_PERI_REG_BITS(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD, (1 << (channel - 10)), SENS_SAR2_EN_PAD_S);
-        SET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M);
+        CLEAR_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_SAR_M);
+        SET_PERI_REG_BITS(SENS_SAR_MEAS2_CTRL2_REG, SENS_SAR2_EN_PAD, (1 << (channel - 10)), SENS_SAR2_EN_PAD_S);
+        SET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_SAR_M);
     } else {
-        CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_START_SAR_M);
-        SET_PERI_REG_BITS(SENS_SAR_MEAS_START1_REG, SENS_SAR1_EN_PAD, (1 << channel), SENS_SAR1_EN_PAD_S);
-        SET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_START_SAR_M);
+        CLEAR_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_SAR_M);
+        SET_PERI_REG_BITS(SENS_SAR_MEAS1_CTRL2_REG, SENS_SAR1_EN_PAD, (1 << channel), SENS_SAR1_EN_PAD_S);
+        SET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_SAR_M);
     }
 
     uint16_t value = 0;
 
-    if(channel > 7){
-        while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_DONE_SAR) == 0); //wait for conversion
-        value = GET_PERI_REG_BITS2(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_DATA_SAR, SENS_MEAS2_DATA_SAR_S);
+    if(channel > 9){
+        //wait for conversion
+        while (GET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DONE_SAR) == 0); 
+        // read the value
+        value = GET_PERI_REG_BITS2(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DATA_SAR, SENS_MEAS2_DATA_SAR_S);
     } else {
-        while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_DONE_SAR) == 0); //wait for conversion
-        value = GET_PERI_REG_BITS2(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_DATA_SAR, SENS_MEAS1_DATA_SAR_S);
+        //wait for conversion
+        while (GET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DONE_SAR) == 0); 
+        // read teh value
+        value = GET_PERI_REG_BITS2(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DATA_SAR, SENS_MEAS1_DATA_SAR_S);
     }
 
-    // Shift result if necessary
-    uint8_t from = __analogWidth + 9;
-    if (from == __analogReturnedWidth) {
-        return value;
-    }
-    if (from > __analogReturnedWidth) {
-        return value >> (from - __analogReturnedWidth);
-    }
-    return value << (__analogReturnedWidth - from);
+    return value;
 }
 
+#else // if others just use analogRead
+
+uint16_t IRAM_ATTR adcRead(uint8_t pin){
+    return analogRead(pin);
+}
+
+#endif
+
+
+// configure the ADC for the pin
+bool IRAM_ATTR adcInit(uint8_t pin){
+    static bool initialized = false;
+    
+    int8_t channel = digitalPinToAnalogChannel(pin);
+    if(channel < 0){
+        return false;//not adc pin
+    }
+
+    if(! initialized){
+        analogSetAttenuation(SIMPLEFOC_ADC_ATTEN);
+        analogReadResolution(SIMPLEFOC_ADC_RES);
+    }   
+    pinMode(pin, ANALOG);
+    analogSetPinAttenuation(pin, SIMPLEFOC_ADC_ATTEN);
+    analogRead(pin);
+
+#ifdef CONFIG_IDF_TARGET_ESP32 // if esp32 variant
+    __configFastADCs();
+#endif
+
+    initialized = true;
+    return true;
+}
 
 #endif
diff --git a/src/current_sense/hardware_specific/esp32/esp32_adc_driver.h b/src/current_sense/hardware_specific/esp32/esp32_adc_driver.h
index f76c003e..9a91d568 100644
--- a/src/current_sense/hardware_specific/esp32/esp32_adc_driver.h
+++ b/src/current_sense/hardware_specific/esp32/esp32_adc_driver.h
@@ -1,88 +1,30 @@
-
-
 #ifndef SIMPLEFOC_ESP32_HAL_ADC_DRIVER_H_ 
 #define SIMPLEFOC_ESP32_HAL_ADC_DRIVER_H_
 
 #include "Arduino.h"
 
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED)  && !defined(SIMPLEFOC_ESP32_USELEDC)
-/*
- * Get ADC value for pin
- * */
-uint16_t adcRead(uint8_t pin);
-
-/*
- * Set the resolution of analogRead return values. Default is 12 bits (range from 0 to 4096).
- * If between 9 and 12, it will equal the set hardware resolution, else value will be shifted.
- * Range is 1 - 16
- *
- * Note: compatibility with Arduino SAM
- */
-void __analogReadResolution(uint8_t bits);
-
-/*
- * Sets the sample bits and read resolution
- * Default is 12bit (0 - 4095)
- * Range is 9 - 12
- * */
-void __analogSetWidth(uint8_t bits);
-
-/*
- * Set number of cycles per sample
- * Default is 8 and seems to do well
- * Range is 1 - 255
- * */
-void __analogSetCycles(uint8_t cycles);
-
-/*
- * Set number of samples in the range.
- * Default is 1
- * Range is 1 - 255
- * This setting splits the range into
- * "samples" pieces, which could look
- * like the sensitivity has been multiplied
- * that many times
- * */
-void __analogSetSamples(uint8_t samples);
-
-/*
- * Set the divider for the ADC clock.
- * Default is 1
- * Range is 1 - 255
- * */
-void __analogSetClockDiv(uint8_t clockDiv);
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED)  && !defined(SIMPLEFOC_ESP32_USELEDC) 
 
-/*
- * Set the attenuation for all channels
- * Default is 11db
- * */
-void __analogSetAttenuation(uint8_t attenuation);
-
-/*
- * Set the attenuation for particular pin
- * Default is 11db
- * */
-void __analogSetPinAttenuation(uint8_t pin, uint8_t attenuation);
 
-/*
- * Attach pin to ADC (will also clear any other analog mode that could be on)
- * */
-bool __adcAttachPin(uint8_t pin);
+#define SIMPLEFOC_ADC_ATTEN ADC_11db
+#define SIMPLEFOC_ADC_RES 12
 
-/*
- * Start ADC conversion on attached pin's bus
+/**
+ * Get ADC value for pin
+ * @param pin - pin number
+ * @return ADC value (0 - 4095)
  * */
-bool __adcStart(uint8_t pin);
+uint16_t adcRead(uint8_t pin);
 
-/*
- * Check if conversion on the pin's ADC bus is currently running
- * */
-bool __adcBusy(uint8_t pin);
+/**
+ * Initialize ADC pin
+ * @param pin - pin number
+ * 
+ * @return true if success
+ *          false if pin is not an ADC pin
+ */
+bool adcInit(uint8_t pin);
 
-/*
- * Get the result of the conversion (will wait if it have not finished)
- * */
-uint16_t __adcEnd(uint8_t pin);
 
 #endif /* SIMPLEFOC_ESP32_HAL_ADC_DRIVER_H_ */
 #endif /* ESP32 */
\ No newline at end of file
diff --git a/src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp b/src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp
index 49f549dc..6760de23 100644
--- a/src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp
+++ b/src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp
@@ -73,16 +73,23 @@ float _readADCVoltageInline(const int pinA, const void* cs_params){
 // function reading an ADC value and returning the read voltage
 void* _configureADCInline(const void* driver_params, const int pinA, const int pinB, const int pinC){
 
-
-  if( _isset(pinA) ) pinMode(pinA, INPUT);
-  if( _isset(pinB) ) pinMode(pinB, INPUT);
-  if( _isset(pinC) ) pinMode(pinC, INPUT);
-
   ESP32MCPWMCurrentSenseParams* params = new ESP32MCPWMCurrentSenseParams {
     .pins = { pinA, pinB, pinC },
     .adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION)
   };
 
+  // initialize the ADC pins
+  // fail if the pin is not an ADC pin
+  for (int i = 0; i < 3; i++){
+    if(_isset(params->pins[i])){
+      pinMode(params->pins[i], ANALOG);
+      if(!adcInit(params->pins[i])) {
+       SIMPLEFOC_ESP32_CS_DEBUG("Failed to initialise ADC pin: "+String(params->pins[i]) + String(", maybe not an ADC pin?"));
+        return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
+      }
+    }
+  }
+  
   return params;
 }
 
@@ -123,19 +130,21 @@ void* _configureADCLowSide(const void* driver_params, const int pinA,const int p
     return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
   }
 
+  
   ESP32MCPWMCurrentSenseParams* params = new ESP32MCPWMCurrentSenseParams{};
   int no_adc_channels = 0;
-  if( _isset(pinA) ){
-    pinMode(pinA, INPUT);
-    params->pins[no_adc_channels++] = pinA;
-  }
-  if( _isset(pinB) ){
-    pinMode(pinB, INPUT);
-    params->pins[no_adc_channels++] = pinB;
-  }
-  if( _isset(pinC) ){
-    pinMode(pinC, INPUT);
-    params->pins[no_adc_channels++] = pinC;
+
+  // initialize the ADC pins
+  // fail if the pin is not an ADC pin
+  int adc_pins[3] = {pinA, pinB, pinC};
+  for (int i = 0; i < 3; i++){
+    if(_isset(adc_pins[i])){
+      if(!adcInit(adc_pins[i])){
+       SIMPLEFOC_ESP32_CS_DEBUG("Failed to initialise ADC pin: "+String(adc_pins[i]) + String(", maybe not an ADC pin?"));
+        return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
+      }
+      params->pins[no_adc_channels++] = adc_pins[i];
+    }
   }
   
   t->user_data = params;
diff --git a/src/current_sense/hardware_specific/esp32/esp32s_adc_driver.cpp b/src/current_sense/hardware_specific/esp32/esp32s_adc_driver.cpp
deleted file mode 100644
index a8541568..00000000
--- a/src/current_sense/hardware_specific/esp32/esp32s_adc_driver.cpp
+++ /dev/null
@@ -1,256 +0,0 @@
-#include "esp32_adc_driver.h"
-
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && (defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3))  && !defined(SIMPLEFOC_ESP32_USELEDC)
-
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "rom/ets_sys.h"
-#include "esp_attr.h"
-//#include "esp_intr.h" // deprecated
-#include "esp_intr_alloc.h"
-#include "soc/rtc_io_reg.h"
-#include "soc/rtc_cntl_reg.h"
-#include "soc/sens_reg.h"
-
-static uint8_t __analogAttenuation = 3;//11db
-static uint8_t __analogWidth = 3;//12 bits
-static uint8_t __analogCycles = 8;
-static uint8_t __analogSamples = 0;//1 sample
-static uint8_t __analogClockDiv = 1;
-
-// Width of returned answer ()
-static uint8_t __analogReturnedWidth = 12;
-
-void __analogSetWidth(uint8_t bits){
-    if(bits < 9){
-        bits = 9;
-    } else if(bits > 12){
-        bits = 12;
-    }
-    __analogReturnedWidth = bits;
-    __analogWidth = bits - 9;
-    // SET_PERI_REG_BITS(SENS_SAR_START_FORCE_REG, SENS_SAR1_BIT_WIDTH, __analogWidth, SENS_SAR1_BIT_WIDTH_S);
-    // SET_PERI_REG_BITS(SENS_SAR_READER1_CTRL_REG, SENS_SAR1_SAMPLE_BIT, __analogWidth, SENS_SAR1_SAMPLE_BIT_S);
-
-    // SET_PERI_REG_BITS(SENS_SAR_START_FORCE_REG, SENS_SAR2_BIT_WIDTH, __analogWidth, SENS_SAR2_BIT_WIDTH_S);
-    // SET_PERI_REG_BITS(SENS_SAR_READER2_CTRL_REG, SENS_SAR2_SAMPLE_BIT, __analogWidth, SENS_SAR2_SAMPLE_BIT_S);
-}
-
-void __analogSetCycles(uint8_t cycles){
-    __analogCycles = cycles;
-    // SET_PERI_REG_BITS(SENS_SAR_READER1_CTRL_REG, SENS_SAR1_SAMPLE_CYCLE, __analogCycles, SENS_SAR1_SAMPLE_CYCLE_S);
-    // SET_PERI_REG_BITS(SENS_SAR_READER2_CTRL_REG, SENS_SAR2_SAMPLE_CYCLE, __analogCycles, SENS_SAR2_SAMPLE_CYCLE_S);
-}
-
-void __analogSetSamples(uint8_t samples){
-    if(!samples){
-        return;
-    }
-    __analogSamples = samples - 1;
-    SET_PERI_REG_BITS(SENS_SAR_READER1_CTRL_REG, SENS_SAR1_SAMPLE_NUM, __analogSamples, SENS_SAR1_SAMPLE_NUM_S);
-    SET_PERI_REG_BITS(SENS_SAR_READER2_CTRL_REG, SENS_SAR2_SAMPLE_NUM, __analogSamples, SENS_SAR2_SAMPLE_NUM_S);
-}
-
-void __analogSetClockDiv(uint8_t clockDiv){
-    if(!clockDiv){
-        return;
-    }
-    __analogClockDiv = clockDiv;
-    SET_PERI_REG_BITS(SENS_SAR_READER1_CTRL_REG, SENS_SAR1_CLK_DIV, __analogClockDiv, SENS_SAR1_CLK_DIV_S);
-    SET_PERI_REG_BITS(SENS_SAR_READER2_CTRL_REG, SENS_SAR2_CLK_DIV, __analogClockDiv, SENS_SAR2_CLK_DIV_S);
-}
-
-void __analogSetAttenuation(uint8_t attenuation)
-{
-    __analogAttenuation = attenuation & 3;
-    uint32_t att_data = 0;
-    int i = 10;
-    while(i--){
-        att_data |= __analogAttenuation << (i * 2);
-    }
-    WRITE_PERI_REG(SENS_SAR_ATTEN1_REG, att_data & 0xFFFF);//ADC1 has 8 channels
-    WRITE_PERI_REG(SENS_SAR_ATTEN2_REG, att_data);
-}
-
-void IRAM_ATTR __analogInit(){
-    static bool initialized = false;
-    if(initialized){
-        return;
-    }
-
-    __analogSetAttenuation(__analogAttenuation);
-    __analogSetCycles(__analogCycles);
-    __analogSetSamples(__analogSamples + 1);//in samples
-    __analogSetClockDiv(__analogClockDiv);
-    __analogSetWidth(__analogWidth + 9);//in bits
-
-    SET_PERI_REG_MASK(SENS_SAR_READER1_CTRL_REG, SENS_SAR1_DATA_INV);
-    SET_PERI_REG_MASK(SENS_SAR_READER2_CTRL_REG, SENS_SAR2_DATA_INV);
-
-    SET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_FORCE_M); //SAR ADC1 controller (in RTC) is started by SW
-    SET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_SAR1_EN_PAD_FORCE_M); //SAR ADC1 pad enable bitmap is controlled by SW
-    SET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_FORCE_M); //SAR ADC2 controller (in RTC) is started by SW
-    SET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_SAR2_EN_PAD_FORCE_M); //SAR ADC2 pad enable bitmap is controlled by SW
-
-    CLEAR_PERI_REG_MASK(SENS_SAR_POWER_XPD_SAR_REG, SENS_FORCE_XPD_SAR_M); //force XPD_SAR=0, use XPD_FSM
-    SET_PERI_REG_BITS(SENS_SAR_POWER_XPD_SAR_REG, SENS_FORCE_XPD_AMP, 0x2, SENS_FORCE_XPD_AMP_S); //force XPD_AMP=0
-
-    CLEAR_PERI_REG_MASK(SENS_SAR_AMP_CTRL3_REG, 0xfff << SENS_AMP_RST_FB_FSM_S);  //clear FSM
-    SET_PERI_REG_BITS(SENS_SAR_AMP_CTRL1_REG, SENS_SAR_AMP_WAIT1, 0x1, SENS_SAR_AMP_WAIT1_S);
-    SET_PERI_REG_BITS(SENS_SAR_AMP_CTRL1_REG, SENS_SAR_AMP_WAIT2, 0x1, SENS_SAR_AMP_WAIT2_S);
-    SET_PERI_REG_BITS(SENS_SAR_POWER_XPD_SAR_REG, SENS_SAR_AMP_WAIT3, 0x1, SENS_SAR_AMP_WAIT3_S);
-    while (GET_PERI_REG_BITS2(SENS_SAR_SLAVE_ADDR1_REG, 0x7, SENS_SARADC_MEAS_STATUS_S) != 0); //wait det_fsm==
-
-    initialized = true;
-}
-
-void __analogSetPinAttenuation(uint8_t pin, uint8_t attenuation)
-{
-    int8_t channel = digitalPinToAnalogChannel(pin);
-    if(channel < 0 || attenuation > 3){
-        return ;
-    }
-    __analogInit();
-    if(channel > 9){
-        SET_PERI_REG_BITS(SENS_SAR_ATTEN2_REG, 3, attenuation, ((channel - 10) * 2));
-    } else {
-        SET_PERI_REG_BITS(SENS_SAR_ATTEN1_REG, 3, attenuation, (channel * 2));
-    }
-}
-
-bool IRAM_ATTR __adcAttachPin(uint8_t pin){
-
-    int8_t channel = digitalPinToAnalogChannel(pin);
-    if(channel < 0){
-        return false;//not adc pin
-    }
-
-    int8_t pad = digitalPinToTouchChannel(pin);
-    if(pad >= 0){
-        uint32_t touch = READ_PERI_REG(SENS_SAR_TOUCH_CONF_REG);
-        if(touch & (1 << pad)){
-            touch &= ~((1 << (pad + SENS_TOUCH_OUTEN_S)));
-            WRITE_PERI_REG(SENS_SAR_TOUCH_CONF_REG, touch);
-        }
-    } else if(pin == 25){
-        CLEAR_PERI_REG_MASK(RTC_IO_PAD_DAC1_REG, RTC_IO_PDAC1_XPD_DAC | RTC_IO_PDAC1_DAC_XPD_FORCE); //stop dac1
-    } else if(pin == 26){
-        CLEAR_PERI_REG_MASK(RTC_IO_PAD_DAC2_REG, RTC_IO_PDAC2_XPD_DAC | RTC_IO_PDAC2_DAC_XPD_FORCE); //stop dac2
-    }
-
-    pinMode(pin, ANALOG);
-
-    __analogInit();
-    return true;
-}
-
-bool IRAM_ATTR __adcStart(uint8_t pin){
-
-    int8_t channel = digitalPinToAnalogChannel(pin);
-    if(channel < 0){
-        return false;//not adc pin
-    }
-
-    if(channel > 9){
-        CLEAR_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_SAR_M);
-        SET_PERI_REG_BITS(SENS_SAR_MEAS2_CTRL2_REG, SENS_SAR2_EN_PAD, (1 << (channel - 10)), SENS_SAR2_EN_PAD_S);
-        SET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_SAR_M);
-    } else {
-        CLEAR_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_SAR_M);
-        SET_PERI_REG_BITS(SENS_SAR_MEAS1_CTRL2_REG, SENS_SAR1_EN_PAD, (1 << channel), SENS_SAR1_EN_PAD_S);
-        SET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_SAR_M);
-    }
-    return true;
-}
-
-bool IRAM_ATTR __adcBusy(uint8_t pin){
-
-    int8_t channel = digitalPinToAnalogChannel(pin);
-    if(channel < 0){
-        return false;//not adc pin
-    }
-
-    if(channel > 9){
-        return (GET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DONE_SAR) == 0);
-    }
-    return (GET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DONE_SAR) == 0);
-}
-
-uint16_t IRAM_ATTR __adcEnd(uint8_t pin)
-{
-
-    uint16_t value = 0;
-    int8_t channel = digitalPinToAnalogChannel(pin);
-    if(channel < 0){
-        return 0;//not adc pin
-    }
-    if(channel > 9){
-        while (GET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DONE_SAR) == 0); //wait for conversion
-        value = GET_PERI_REG_BITS2(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DATA_SAR, SENS_MEAS2_DATA_SAR_S);
-    } else {
-        while (GET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DONE_SAR) == 0); //wait for conversion
-        value = GET_PERI_REG_BITS2(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DATA_SAR, SENS_MEAS1_DATA_SAR_S);
-    }
-
-    // Shift result if necessary
-    uint8_t from = __analogWidth + 9;
-    if (from == __analogReturnedWidth) {
-        return value;
-    }
-    if (from > __analogReturnedWidth) {
-        return value >> (from - __analogReturnedWidth);
-    }
-    return value << (__analogReturnedWidth - from);
-}
-
-void __analogReadResolution(uint8_t bits)
-{
-    if(!bits || bits > 16){
-        return;
-    }
-    __analogSetWidth(bits);         // hadware from 9 to 12
-    __analogReturnedWidth = bits;   // software from 1 to 16
-}
-
-uint16_t IRAM_ATTR adcRead(uint8_t pin)
-{
-    int8_t channel = digitalPinToAnalogChannel(pin);
-    if(channel < 0){
-        return false;//not adc pin
-    }
-
-    __analogInit();
-
-    if(channel > 9){
-        CLEAR_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_SAR_M);
-        SET_PERI_REG_BITS(SENS_SAR_MEAS2_CTRL2_REG, SENS_SAR2_EN_PAD,(1 << (channel - 10)), SENS_SAR2_EN_PAD_S);
-        SET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_SAR_M);
-    } else {
-        CLEAR_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_SAR_M);
-        SET_PERI_REG_BITS(SENS_SAR_MEAS1_CTRL2_REG, SENS_SAR1_EN_PAD, (1 << channel), SENS_SAR1_EN_PAD_S);
-        SET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_SAR_M);
-    }
-
-    uint16_t value = 0;
-
-    if(channel > 9){
-        while (GET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DONE_SAR) == 0); //wait for conversion
-        value = GET_PERI_REG_BITS2(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DATA_SAR, SENS_MEAS2_DATA_SAR_S);
-    } else {
-        while (GET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DONE_SAR) == 0); //wait for conversion
-        value = GET_PERI_REG_BITS2(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DATA_SAR, SENS_MEAS1_DATA_SAR_S);
-    }
-
-    // Shift result if necessary
-    uint8_t from = __analogWidth + 9;
-    if (from == __analogReturnedWidth) {
-        return value;
-    }
-    if (from > __analogReturnedWidth) {
-        return value >> (from - __analogReturnedWidth);
-    }
-    return value << (__analogReturnedWidth - from);
-}
-
-
-#endif
\ No newline at end of file