Merge pull request simplefoc#319 from runger1101001/dev

Fixes after 2.3.1 Release

Author: runger1101001

README.md

@@ -26,8 +26,10 @@ Therefore this is an attempt to:
    - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
 > NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.2
+> - Improved [space vector modulation code](https://github.com/simplefoc/Arduino-FOC/pull/309) thanks to [@Candas1](https://github.com/Candas1)
 > - Bugfix for teensy3.2 - [#321](https://github.com/simplefoc/Arduino-FOC/pull/321)
 > - Added teensy3/4 compile to the github CI using platformio
+> - And more bugfixes - see the [complete list of 2.3.2 fixes here](https://github.com/simplefoc/Arduino-FOC/issues?q=is%3Aissue+milestone%3A2.3.2_Release)
 
 ## Arduino *SimpleFOClibrary* v2.3.2
 

library.properties

@@ -1,5 +1,5 @@
 name=Simple FOC
-version=2.3.1
+version=2.3.2
 author=Simplefoc <[email protected]>
 maintainer=Simplefoc <[email protected]>
 sentence=A library demistifying FOC for BLDC motors

src/StepperMotor.cpp

@@ -134,7 +134,7 @@ int StepperMotor::alignSensor() {
   SIMPLEFOC_DEBUG("MOT: Align sensor.");
 
   // if unknown natural direction
-  if(!_isset(sensor_direction)){
+  if(sensor_direction == Direction::UNKNOWN){
     // check if sensor needs zero search
     if(sensor->needsSearch()) exit_flag = absoluteZeroSearch();
     // stop init if not found index

src/drivers/hardware_specific/renesas/renesas.cpp

@@ -144,7 +144,7 @@ bool configureTimerPin(RenesasHardwareDriverParams* params, uint8_t index, bool
   uint8_t timer_channel = GET_CHANNEL(pinCfgs[0]);
   // check its not used
   if (channel_used[timer_channel]) {
-    SIMPLEFOC_DEBUG("DRV: channel in use");
+    SIMPLEFOC_DEBUG("DRV: channel in use: ", timer_channel);
     return false;
   }
 
@@ -262,26 +262,17 @@ bool configureTimerPin(RenesasHardwareDriverParams* params, uint8_t index, bool
     t->ext_cfg.gtior_setting.gtior_b.gtiob = 0x03 | (active_high ? 0x00 : 0x10);
     t->ext_cfg.gtior_setting.gtior_b.obdflt = active_high ? 0x00 : 0x01;
   }
-
-  // lets stop the timer in case its running
-  if (GPT_OPEN == t->ctrl.open) {
-    if (R_GPT_Stop(&(t->ctrl)) != FSP_SUCCESS) {
-      SIMPLEFOC_DEBUG("DRV: timer stop failed");
-      return false;
-    }
-  }
-
   memset(&(t->ctrl), 0, sizeof(gpt_instance_ctrl_t));
   err = R_GPT_Open(&(t->ctrl),&(t->timer_cfg));
   if ((err != FSP_ERR_ALREADY_OPEN) && (err != FSP_SUCCESS)) {
     SIMPLEFOC_DEBUG("DRV: open failed");
     return false;
   }
-  #if defined(SIMPLEFOC_RESENSAS_DEBUG)
   if (err == FSP_ERR_ALREADY_OPEN) {
     SimpleFOCDebug::println("DRV: timer already open");
+    return false;
   }
-  #endif
+
   err = R_GPT_PeriodSet(&(t->ctrl), t->timer_cfg.period_counts);
   if (err != FSP_SUCCESS) {
     SIMPLEFOC_DEBUG("DRV: period set failed");