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simplefoc / Arduino-FOC

Arduino FOC for BLDC and Stepper motors - Arduino Based Field Oriented Control Algorithm Library
https://docs.simplefoc.com
MIT License
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add ESP32 output inversion support #290

Closed mcells closed 1 year ago

mcells commented 1 year ago

This PR adds support for switching driver polarity when using the MCPWM driver using the SIMPLEFOC_PWM_HIGH/LOWSIDE_ACTIVE_HIGH and SIMPLEFOC_PWM_ACTIVE_HIGH defines.

I have successfully used the 6 pwm inverted lowside modified code for my motor driver and just added the missing cases in. The output of both 6 and 3 pwm modes looks correct to me. I didn´t try the stepper modes, but they should work the same.

Are the proposed changes ok, or have I missed something?

runger1101001 commented 1 year ago

This looks great to me, thank you very much!

Did you also test that the changes when using the standard setting still give the standard behaviour?

mcells commented 1 year ago

Thanks! Just tested it again, the default behavior is still everything active high.

SIMPLEFOC_PWM_HIGH/LOWSIDE_ACTIVE_HIGH overrides SIMPLEFOC_PWM_ACTIVE_HIGH only when _configureTimerFrequency is called with the deadtime parameter set (currently only done by 6 pwm). This is the case, even when deadtime is set to 0.

If the defines in hardware_api.h are removed, PIO & Arduino won´t compile, instead of just treating them as false.

Perhaps it would be a good idea to check for these defines in all drivers and throw an error if a driver doesn´t implement setting them to nonstandard values?

runger1101001 commented 1 year ago

Thank you for checking!

Perhaps it would be a good idea to check for these defines in all drivers and throw an error if a driver doesn´t implement setting them to nonstandard values?

Yes, this would be a very good idea! I will try to add it with the next few commits

runger1101001 commented 1 year ago

Thank you very much for your contribution! It's really appreciated. As you can imagine, adding features across all the different MCU architectures we support is a lot of work (making test setups each time!), so it is really a big help when generous people (like you) step in and help us out!