fix compile problems on different platforms

Author: runger1101001

src/comms/i2c/I2CCommander.cpp

@@ -83,7 +83,6 @@ the run() method disables interrupts while the updates happen.
 */
 bool I2CCommander::receiveRegister(uint8_t motorNum, uint8_t registerNum, int numBytes) {
     int val;
-    float floatval;
     switch (registerNum) {
         case REG_MOTOR_ADDRESS:
             val = _wire->read(); // reading one more byte is definately ok, since numBytes>1
@@ -387,7 +386,8 @@ bool I2CCommander::sendRegister(uint8_t motorNum, uint8_t registerNum) {
             writeFloat(motors[motorNum]->current_limit);
             break;
         case REG_MOTION_DOWNSAMPLE:
-            _wire->write((uint32_t)motors[motorNum]->motion_downsample);
+            _wire->write((int)motors[motorNum]->motion_downsample); // TODO int will have different sizes on different platforms
+                                                                    //      but using uint32 doesn't compile clean on all, e.g. RP2040
             break;            
 
         case REG_ZERO_ELECTRIC_ANGLE:
@@ -403,11 +403,12 @@ bool I2CCommander::sendRegister(uint8_t motorNum, uint8_t registerNum) {
             writeFloat(motors[motorNum]->phase_resistance);
             break;
         case REG_POLE_PAIRS:
-            _wire->write((uint32_t)motors[motorNum]->pole_pairs);
+            _wire->write((int)motors[motorNum]->pole_pairs);
             break;
 
         case REG_SYS_TIME:
-            _wire->write(millis()); 
+            // TODO how big is millis()? Same on all platforms?
+            _wire->write((int)millis());
             break;
         case REG_NUM_MOTORS:   
             _wire->write(numMotors);

src/drivers/drv8316/drv8316.h

@@ -21,8 +21,8 @@ enum DRV8316_PWMMode {
 
 
 enum DRV8316_SDOMode {
-	OpenDrain = 0b0,
-	PushPull = 0b1
+	SDOMode_OpenDrain = 0b0,
+	SDOMode_PushPull = 0b1
 };
 
 

src/encoders/stm32hwencoder/STM32HWEncoder.cpp

@@ -112,15 +112,19 @@ void STM32HWEncoder::init() {
     gpio.Mode = GPIO_MODE_AF_PP;
     gpio.Pull = GPIO_NOPULL;
     gpio.Speed = GPIO_SPEED_FREQ_MEDIUM;
+    #ifndef STM32F1xx_HAL_GPIO_H
     gpio.Alternate = pinmap_function(pinA, PinMap_PWM);
+    #endif
     HAL_GPIO_Init(digitalPinToPort(_pinA), &gpio);
 
     // lets assume pinB is on the same timer as pinA... otherwise it can't work but the API currently doesn't allow us to fail gracefully
     gpio.Pin = digitalPinToBitMask(_pinB);
     gpio.Mode = GPIO_MODE_AF_PP;
     gpio.Pull = GPIO_NOPULL;
     gpio.Speed = GPIO_SPEED_FREQ_MEDIUM;
+    #ifndef STM32F1xx_HAL_GPIO_H
     gpio.Alternate = pinmap_function(digitalPinToPinName(_pinB), PinMap_PWM);
+    #endif
     HAL_GPIO_Init(digitalPinToPort(_pinB), &gpio);
 
     // set up timer for encoder