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fix nRF52 support to compile for Nano 33 (mbed) #137

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Merged
merged 1 commit into from
Nov 17, 2021
Merged

fix nRF52 support to compile for Nano 33 (mbed) #137

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28 changes: 15 additions & 13 deletions src/drivers/hardware_specific/nrf52_mcu.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,9 @@

#include "../hardware_api.h"

#if defined(NRF52_SERIES)


#define PWM_CLK (16000000)
#define PWM_FREQ (40000)
#define PWM_RESOLUTION (PWM_CLK/PWM_FREQ)
Expand Down Expand Up @@ -108,9 +110,9 @@ void _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int

pwm_range = (PWM_CLK / pwm_frequency);

int pA = g_ADigitalPinMap[pinA];
int pB = g_ADigitalPinMap[pinB];
int pC = g_ADigitalPinMap[pinC];
int pA = digitalPinToPinName(pinA); //g_ADigitalPinMap[pinA];
int pB = digitalPinToPinName(pinB); //g_ADigitalPinMap[pinB];
int pC = digitalPinToPinName(pinC); //g_ADigitalPinMap[pinC];

// determine which motor are we connecting
// and set the appropriate configuration parameters
Expand Down Expand Up @@ -159,10 +161,10 @@ void _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int

pwm_range = (PWM_CLK / pwm_frequency);

int pA = g_ADigitalPinMap[pinA];
int pB = g_ADigitalPinMap[pinB];
int pC = g_ADigitalPinMap[pinC];
int pD = g_ADigitalPinMap[pinD];
int pA = digitalPinToPinName(pinA); //g_ADigitalPinMap[pinA];
int pB = digitalPinToPinName(pinB); //g_ADigitalPinMap[pinB];
int pC = digitalPinToPinName(pinC); //g_ADigitalPinMap[pinC];
int pD = digitalPinToPinName(pinD); //g_ADigitalPinMap[pinD];

// determine which motor are we connecting
// and set the appropriate configuration parameters
Expand Down Expand Up @@ -261,12 +263,12 @@ int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const
dead_time = DEAD_TIME/2;
}

int pA_l = g_ADigitalPinMap[pinA_l];
int pA_h = g_ADigitalPinMap[pinA_h];
int pB_l = g_ADigitalPinMap[pinB_l];
int pB_h = g_ADigitalPinMap[pinB_h];
int pC_l = g_ADigitalPinMap[pinC_l];
int pC_h = g_ADigitalPinMap[pinC_h];
int pA_l = digitalPinToPinName(pinA_l); //g_ADigitalPinMap[pinA_l];
int pA_h = digitalPinToPinName(pinA_h); //g_ADigitalPinMap[pinA_h];
int pB_l = digitalPinToPinName(pinB_l); //g_ADigitalPinMap[pinB_l];
int pB_h = digitalPinToPinName(pinB_h); //g_ADigitalPinMap[pinB_h];
int pC_l = digitalPinToPinName(pinC_l); //g_ADigitalPinMap[pinC_l];
int pC_h = digitalPinToPinName(pinC_h); //g_ADigitalPinMap[pinC_h];


// determine which motor are we connecting
Expand Down