simplefoc · runger1101001 · Sep 2, 2023 · Aug 20, 2023 · Aug 21, 2023 · Aug 21, 2023
diff --git 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) && !defined(ARDUINO_ARCH_MEGAAVR)
 #define PinStatus int
 #endif
 

diff --git 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"
 

diff --git 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"

diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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/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
 

diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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;
 

diff --git 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;
 }