This is what I see on osciloscope:

Thanks for pointing me to fixed-point number. I think i can reduce interrupt execution time with your solution.
How about latency?
Can I make interrupt to trigger more precisely (cca 1us delay would be fantastic)?
Regards, Boris

How can I minimize latency and execution time for interrupt ?

I register interrupt as:
mcpwm_isr_register(MCPWM_UNIT_0, isr_handler, NULL, ESP_INTR_FLAG_IRAM, NULL);

in interrupt I have simple float operation as :

void IRAM_ATTR isr_handler(void *ctrl)
{

uint32_t mcpwm_intr_status = MCPWM ...

I'm planing to make 3-phase variable frequency drive with esp32.

I would like to generate 3 high-side hardware PWM and inverted 3 low-side hardware PWM with inserted dead time to charge bootstrap capacitor.

I've been playing with MCPWM library on arduino IDE.

My questions are:

1. How can I ...