Feat teensy4 lowside #392
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Feat teensy4 lowside #392
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…t the motment) - in progress
…de current sensing
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Initial implementation of the teesny4 low-side current sensing support for 6pwm and 3pwm drivers.
The implmentation is limited to one motor and the moment and uses only one ADC (ADC1).
This is due to preserve the backward compatibility because, in order to use low-side current sensing with 3pwm drivers they need to be center aligned and using flexpwm timers. In the current simplefoc implementation we allow for using any combination of flexpwm timers and quadtimers. If the user wants to use low-side current sensing he needs to include
TEENSY4_FORCE_CENTER_ALIGNED_3PWMbuild flag. By eitherplatformio.inifile-DTEENSY4_FORCE_CENTER_ALIGNED_3PWMsrc\drivers\hardware_specific\teensy\teensy4_mcu.cppfile.Additionally, make sure to use all three phases on flexpwm timers and on their A or B channels (it they are not simplefoc will show an error message).
In the next versions of the SimpleFOC we will make sure to make the usage of the 3pwm drivers with low-side current sensing a bit more straight forward.