From dbc28d42f12c1c080d93c697b1545b4e3c7bfc4c Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Sun, 20 Aug 2023 10:05:12 +0200
Subject: [PATCH 1/7] nrf52 compile error fixed

---
 src/communication/StepDirListener.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/communication/StepDirListener.h b/src/communication/StepDirListener.h
index 352e3b09..114e6106 100644
--- a/src/communication/StepDirListener.h
+++ b/src/communication/StepDirListener.h
@@ -5,7 +5,7 @@
 #include "../common/foc_utils.h"
 
 
-#if !defined(TARGET_RP2040) && !defined(_SAMD21_) && !defined(_SAMD51_) && !defined(_SAME51_) && !defined(ARDUINO_UNOR4_WIFI) && !defined(ARDUINO_UNOR4_MINIMA)
+#if !defined(TARGET_RP2040) && !defined(_SAMD21_) && !defined(_SAMD51_) && !defined(_SAME51_) && !defined(ARDUINO_UNOR4_WIFI) && !defined(ARDUINO_UNOR4_MINIMA) && !defined(NRF52_SERIES)
 #define PinStatus int
 #endif
 

From a163d144fd2cee97423da27e9a008a2f47e7fc02 Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Mon, 21 Aug 2023 23:03:24 +0200
Subject: [PATCH 2/7] esp32 nano insists on 3 parameters for pulseIn

---
 src/sensors/MagneticSensorPWM.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/sensors/MagneticSensorPWM.cpp b/src/sensors/MagneticSensorPWM.cpp
index 3b0cd9aa..cf211644 100644
--- a/src/sensors/MagneticSensorPWM.cpp
+++ b/src/sensors/MagneticSensorPWM.cpp
@@ -85,7 +85,7 @@ float MagneticSensorPWM::getSensorAngle(){
 int MagneticSensorPWM::getRawCount(){
     if (!is_interrupt_based){ // if it's not interrupt based read the value in a blocking way
         pulse_timestamp = _micros(); // ideally this should be done right at the rising edge of the pulse
-        pulse_length_us = pulseIn(pinPWM, HIGH);
+        pulse_length_us = pulseIn(pinPWM, HIGH, 1200); // 1200us timeout, should this be configurable?
     }
     return pulse_length_us;
 }

From 7d3dbd8a8388353c6e598c6642d7476a3c5a86b0 Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Mon, 21 Aug 2023 23:55:22 +0200
Subject: [PATCH 3/7] make compatible with Nano ESP32 platform

---
 src/drivers/hardware_specific/generic_mcu.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/drivers/hardware_specific/generic_mcu.cpp b/src/drivers/hardware_specific/generic_mcu.cpp
index d92004e9..b6bc2f06 100644
--- a/src/drivers/hardware_specific/generic_mcu.cpp
+++ b/src/drivers/hardware_specific/generic_mcu.cpp
@@ -1,7 +1,8 @@
+
 #include "../hardware_api.h"
 
 // if the mcu doen't have defiend analogWrite
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && !defined(analogWrite)
   __attribute__((weak)) void analogWrite(uint8_t pin, int value){ };
 #endif
 

From 6efd1264df9bc32d2ce51e3e6527c97996146c2b Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Mon, 21 Aug 2023 23:57:27 +0200
Subject: [PATCH 4/7] use new version of header file

---
 .../hardware_specific/esp32/esp32s_adc_driver.cpp              | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/current_sense/hardware_specific/esp32/esp32s_adc_driver.cpp b/src/current_sense/hardware_specific/esp32/esp32s_adc_driver.cpp
index 2e956770..a2f58ac3 100644
--- a/src/current_sense/hardware_specific/esp32/esp32s_adc_driver.cpp
+++ b/src/current_sense/hardware_specific/esp32/esp32s_adc_driver.cpp
@@ -6,7 +6,8 @@
 #include "freertos/task.h"
 #include "rom/ets_sys.h"
 #include "esp_attr.h"
-#include "esp_intr.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"

From 3dcb7e8f5a8cf7da83930dc3049cce7ce352aa25 Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Mon, 21 Aug 2023 23:57:54 +0200
Subject: [PATCH 5/7] prevent compile errors when LEDC is forced

---
 src/current_sense/hardware_specific/esp32/esp32_mcu.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/current_sense/hardware_specific/esp32/esp32_mcu.cpp b/src/current_sense/hardware_specific/esp32/esp32_mcu.cpp
index dd336416..3df9dff6 100644
--- a/src/current_sense/hardware_specific/esp32/esp32_mcu.cpp
+++ b/src/current_sense/hardware_specific/esp32/esp32_mcu.cpp
@@ -2,7 +2,7 @@
 #include "../../../drivers/hardware_api.h"
 #include "../../../drivers/hardware_specific/esp32/esp32_driver_mcpwm.h"
 
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) 
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)
 
 #include "esp32_adc_driver.h"
 

From 6372a50ac2548a647e3d08cd6876f5b62d26f723 Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Tue, 29 Aug 2023 23:53:34 +0200
Subject: [PATCH 6/7] add MEGAAVR to archs which define PinStatus

---
 src/communication/StepDirListener.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/communication/StepDirListener.h b/src/communication/StepDirListener.h
index 114e6106..f9691fd3 100644
--- a/src/communication/StepDirListener.h
+++ b/src/communication/StepDirListener.h
@@ -5,7 +5,7 @@
 #include "../common/foc_utils.h"
 
 
-#if !defined(TARGET_RP2040) && !defined(_SAMD21_) && !defined(_SAMD51_) && !defined(_SAME51_) && !defined(ARDUINO_UNOR4_WIFI) && !defined(ARDUINO_UNOR4_MINIMA) && !defined(NRF52_SERIES)
+#if !defined(TARGET_RP2040) && !defined(_SAMD21_) && !defined(_SAMD51_) && !defined(_SAME51_) && !defined(ARDUINO_UNOR4_WIFI) && !defined(ARDUINO_UNOR4_MINIMA) && !defined(NRF52_SERIES) && !defined(ARDUINO_ARCH_MEGAAVR)
 #define PinStatus int
 #endif
 

From a5ecace16f8c180c425818b2e9946fda0637afc6 Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Tue, 29 Aug 2023 23:54:45 +0200
Subject: [PATCH 7/7] add compiler message which driver gets compiled

---
 src/drivers/hardware_specific/atmega/atmega2560_mcu.cpp  | 6 ++++++
 src/drivers/hardware_specific/atmega/atmega328_mcu.cpp   | 4 ++++
 src/drivers/hardware_specific/atmega/atmega32u4_mcu.cpp  | 4 ++++
 src/drivers/hardware_specific/due_mcu.cpp                | 6 ++++++
 src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h | 7 +++++++
 src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp   | 4 ++++
 src/drivers/hardware_specific/esp8266_mcu.cpp            | 6 ++++++
 src/drivers/hardware_specific/nrf52_mcu.cpp              | 4 ++++
 src/drivers/hardware_specific/portenta_h7_mcu.cpp        | 6 ++++++
 src/drivers/hardware_specific/renesas/renesas.cpp        | 7 +++++++
 src/drivers/hardware_specific/rp2040/rp2040_mcu.cpp      | 6 ++++++
 src/drivers/hardware_specific/samd/samd21_mcu.cpp        | 4 ++++
 src/drivers/hardware_specific/samd/samd51_mcu.cpp        | 5 +++++
 src/drivers/hardware_specific/stm32/stm32_mcu.cpp        | 4 ++++
 src/drivers/hardware_specific/teensy/teensy3_mcu.cpp     | 4 ++++
 src/drivers/hardware_specific/teensy/teensy4_mcu.cpp     | 6 ++++++
 16 files changed, 83 insertions(+)

diff --git a/src/drivers/hardware_specific/atmega/atmega2560_mcu.cpp b/src/drivers/hardware_specific/atmega/atmega2560_mcu.cpp
index 5ad3653c..8a7fbbec 100644
--- a/src/drivers/hardware_specific/atmega/atmega2560_mcu.cpp
+++ b/src/drivers/hardware_specific/atmega/atmega2560_mcu.cpp
@@ -2,6 +2,12 @@
 
 #if defined(__AVR_ATmega2560__) || defined(AVR_ATmega1280)
 
+
+#pragma message("")
+#pragma message("SimpleFOC: compiling for Arduino/ATmega2560 or Arduino/ATmega1280")
+#pragma message("")
+
+
 #define _PWM_FREQUENCY 32000
 #define _PWM_FREQUENCY_MAX 32000
 #define _PWM_FREQUENCY_MIN 4000
diff --git a/src/drivers/hardware_specific/atmega/atmega328_mcu.cpp b/src/drivers/hardware_specific/atmega/atmega328_mcu.cpp
index 385f6e64..53fb1086 100644
--- a/src/drivers/hardware_specific/atmega/atmega328_mcu.cpp
+++ b/src/drivers/hardware_specific/atmega/atmega328_mcu.cpp
@@ -2,6 +2,10 @@
 
 #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__)
 
+#pragma message("")
+#pragma message("SimpleFOC: compiling for Arduino/ATmega328 ATmega168 ATmega328PB")
+#pragma message("")
+
 #define _PWM_FREQUENCY 32000
 #define _PWM_FREQUENCY_MAX 32000
 #define _PWM_FREQUENCY_MIN 4000
diff --git a/src/drivers/hardware_specific/atmega/atmega32u4_mcu.cpp b/src/drivers/hardware_specific/atmega/atmega32u4_mcu.cpp
index b9836e16..b4ad3101 100644
--- a/src/drivers/hardware_specific/atmega/atmega32u4_mcu.cpp
+++ b/src/drivers/hardware_specific/atmega/atmega32u4_mcu.cpp
@@ -3,6 +3,10 @@
 
 #if defined(__AVR_ATmega32U4__)
 
+#pragma message("")
+#pragma message("SimpleFOC: compiling for Arduino/ATmega32U4")
+#pragma message("")
+
 // set pwm frequency to 32KHz
 void _pinHighFrequency(const int pin){
   //  High PWM frequency
diff --git a/src/drivers/hardware_specific/due_mcu.cpp b/src/drivers/hardware_specific/due_mcu.cpp
index 80ef82d9..4397114b 100644
--- a/src/drivers/hardware_specific/due_mcu.cpp
+++ b/src/drivers/hardware_specific/due_mcu.cpp
@@ -2,6 +2,12 @@
 
 #if defined(__arm__) && defined(__SAM3X8E__)
 
+
+#pragma message("")
+#pragma message("SimpleFOC: compiling for Arduino/Due")
+#pragma message("")
+
+
 #define _PWM_FREQUENCY 25000 // 25khz
 #define _PWM_FREQUENCY_MAX 50000 // 50khz
 
diff --git a/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h
index 4f8ad131..188da8c3 100644
--- a/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h
+++ b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h
@@ -5,6 +5,13 @@
 
 #if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)
 
+
+
+#pragma message("")
+#pragma message("SimpleFOC: compiling for ESP32 MCPWM driver")
+#pragma message("")
+
+
 #include "driver/mcpwm.h"
 #include "soc/mcpwm_reg.h"
 #include "soc/mcpwm_struct.h"
diff --git a/src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp b/src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp
index 76027459..a454c052 100644
--- a/src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp
+++ b/src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp
@@ -2,6 +2,10 @@
 
 #if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && ( !defined(SOC_MCPWM_SUPPORTED) || defined(SIMPLEFOC_ESP32_USELEDC) )
 
+#pragma message("")
+#pragma message("SimpleFOC: compiling for ESP32 LEDC driver")
+#pragma message("")
+
 #include "driver/ledc.h"
 
 #define _PWM_FREQUENCY 25000 // 25khz
diff --git a/src/drivers/hardware_specific/esp8266_mcu.cpp b/src/drivers/hardware_specific/esp8266_mcu.cpp
index 15b9c82d..23d94110 100644
--- a/src/drivers/hardware_specific/esp8266_mcu.cpp
+++ b/src/drivers/hardware_specific/esp8266_mcu.cpp
@@ -2,6 +2,12 @@
 
 #if defined(ESP_H) && defined(ARDUINO_ARCH_ESP8266)
 
+
+#pragma message("")
+#pragma message("SimpleFOC: compiling for ESP8266")
+#pragma message("")
+
+
 #define _PWM_FREQUENCY 25000 // 25khz
 #define _PWM_FREQUENCY_MAX 50000 // 50khz
 
diff --git a/src/drivers/hardware_specific/nrf52_mcu.cpp b/src/drivers/hardware_specific/nrf52_mcu.cpp
index f53eada0..a20b828a 100644
--- a/src/drivers/hardware_specific/nrf52_mcu.cpp
+++ b/src/drivers/hardware_specific/nrf52_mcu.cpp
@@ -3,6 +3,10 @@
 
 #if defined(NRF52_SERIES)
 
+#pragma message("")
+#pragma message("SimpleFOC: compiling for NRF52")
+#pragma message("")
+
 
 #define PWM_CLK (16000000)
 #define PWM_FREQ (40000)
diff --git a/src/drivers/hardware_specific/portenta_h7_mcu.cpp b/src/drivers/hardware_specific/portenta_h7_mcu.cpp
index b426f0ed..ad16646a 100644
--- a/src/drivers/hardware_specific/portenta_h7_mcu.cpp
+++ b/src/drivers/hardware_specific/portenta_h7_mcu.cpp
@@ -3,6 +3,12 @@
 
 #if defined(TARGET_PORTENTA_H7)
 
+
+#pragma message("")
+#pragma message("SimpleFOC: compiling for Arduino/Portenta_H7")
+#pragma message("")
+
+
 #include "pwmout_api.h"
 #include "pinDefinitions.h"
 #include "platform/mbed_critical.h"
diff --git a/src/drivers/hardware_specific/renesas/renesas.cpp b/src/drivers/hardware_specific/renesas/renesas.cpp
index 91dfa532..4a6a3e92 100644
--- a/src/drivers/hardware_specific/renesas/renesas.cpp
+++ b/src/drivers/hardware_specific/renesas/renesas.cpp
@@ -3,6 +3,13 @@
 
 #if defined(ARDUINO_UNOR4_WIFI) || defined(ARDUINO_UNOR4_MINIMA)
 
+
+#pragma message("")
+#pragma message("SimpleFOC: compiling for Arduino/Renesas (UNO R4)")
+#pragma message("")
+
+
+
 #include "communication/SimpleFOCDebug.h"
 #include "FspTimer.h"
 
diff --git a/src/drivers/hardware_specific/rp2040/rp2040_mcu.cpp b/src/drivers/hardware_specific/rp2040/rp2040_mcu.cpp
index ebe1a7dd..eee5797b 100644
--- a/src/drivers/hardware_specific/rp2040/rp2040_mcu.cpp
+++ b/src/drivers/hardware_specific/rp2040/rp2040_mcu.cpp
@@ -4,6 +4,12 @@
  */
 #if defined(TARGET_RP2040)
 
+
+#pragma message("")
+#pragma message("SimpleFOC: compiling for RP2040")
+#pragma message("")
+
+
 #define SIMPLEFOC_DEBUG_RP2040
 
 #include "../../hardware_api.h"
diff --git a/src/drivers/hardware_specific/samd/samd21_mcu.cpp b/src/drivers/hardware_specific/samd/samd21_mcu.cpp
index d9bb5b9a..d59a3098 100644
--- a/src/drivers/hardware_specific/samd/samd21_mcu.cpp
+++ b/src/drivers/hardware_specific/samd/samd21_mcu.cpp
@@ -7,6 +7,10 @@
 #ifdef _SAMD21_
 
 
+#pragma message("")
+#pragma message("SimpleFOC: compiling for SAMD21")
+#pragma message("")
+
 
 #ifndef TCC3_CH0
 #define TCC3_CH0 NOT_ON_TIMER
diff --git a/src/drivers/hardware_specific/samd/samd51_mcu.cpp b/src/drivers/hardware_specific/samd/samd51_mcu.cpp
index 4bdf036b..71bf0b81 100644
--- a/src/drivers/hardware_specific/samd/samd51_mcu.cpp
+++ b/src/drivers/hardware_specific/samd/samd51_mcu.cpp
@@ -6,6 +6,11 @@
 #if defined(_SAMD51_)||defined(_SAME51_)
 
 
+#pragma message("")
+#pragma message("SimpleFOC: compiling for SAMD51/SAME51")
+#pragma message("")
+
+
 
 // expected frequency on DPLL, since we don't configure it ourselves. Typically this is the CPU frequency.
 // for custom boards or overclockers you can override it using this define.
diff --git a/src/drivers/hardware_specific/stm32/stm32_mcu.cpp b/src/drivers/hardware_specific/stm32/stm32_mcu.cpp
index acf6d22b..65dad9f4 100644
--- a/src/drivers/hardware_specific/stm32/stm32_mcu.cpp
+++ b/src/drivers/hardware_specific/stm32/stm32_mcu.cpp
@@ -4,6 +4,10 @@
 
 #if defined(_STM32_DEF_)
 
+#pragma message("")
+#pragma message("SimpleFOC: compiling for STM32")
+#pragma message("")
+
 
 //#define SIMPLEFOC_STM32_DEBUG
 
diff --git a/src/drivers/hardware_specific/teensy/teensy3_mcu.cpp b/src/drivers/hardware_specific/teensy/teensy3_mcu.cpp
index de48dad0..3a7b5de5 100644
--- a/src/drivers/hardware_specific/teensy/teensy3_mcu.cpp
+++ b/src/drivers/hardware_specific/teensy/teensy3_mcu.cpp
@@ -10,6 +10,10 @@
 #if defined(__arm__) && defined(CORE_TEENSY) &&  (defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MKL26Z64__) || defined(__MK64FX512__) || defined(__MK66FX1M0__))
 
 
+#pragma message("")
+#pragma message("SimpleFOC: compiling for Teensy 3.x")
+#pragma message("")
+
 // pin definition from https://github.com/PaulStoffregen/cores/blob/286511f3ec849a6c9e0ec8b73ad6a2fada52e44c/teensy3/pins_teensy.c
 #if defined(__MK20DX128__)
 #define FTM0_CH0_PIN 22
diff --git a/src/drivers/hardware_specific/teensy/teensy4_mcu.cpp b/src/drivers/hardware_specific/teensy/teensy4_mcu.cpp
index 9ed33443..322d5a34 100644
--- a/src/drivers/hardware_specific/teensy/teensy4_mcu.cpp
+++ b/src/drivers/hardware_specific/teensy/teensy4_mcu.cpp
@@ -7,6 +7,12 @@
 // - Teensy 4.1 
 #if defined(__arm__) && defined(CORE_TEENSY) && ( defined(__IMXRT1062__) || defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41) || defined(ARDUINO_TEENSY_MICROMOD) )
 
+
+#pragma message("")
+#pragma message("SimpleFOC: compiling for Teensy 4.x")
+#pragma message("")
+
+
 // half_cycle of the PWM variable
 int half_cycle = 0;