Merge branch 'dev' of github.com:askuric/Arduino-FOC into dev

Author: askuric

.github/workflows/teensy.yml

@@ -0,0 +1,41 @@
+name: PlatformIO - Teensy build
+
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest        
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/cache@v3
+        with:
+          path: |
+            ~/.cache/pip
+            ~/.platformio/.cache
+          key: ${{ runner.os }}-pio
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.9'
+      - name: Install PlatformIO Core
+        run: pip install --upgrade platformio
+
+      - name: PIO Run Teensy 4
+        run: pio ci --lib="." --board=teensy41 --board=teensy40
+        env:
+          PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy4/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino
+      
+      - name: PIO Run Teensy 4
+        run: pio ci --lib="." --board=teensy41 --board=teensy40
+        env:
+          PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino
+      
+      - name: PIO Run Teensy 3
+        run: pio ci --lib="." --board=teensy31 --board=teensy30 --board=teensy35 --board=teensy36
+        env:
+          PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy3/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino
+          
+      - name: PIO Run Teensy 3
+        run: pio ci --lib="." --board=teensy31 --board=teensy30 --board=teensy35 --board=teensy36
+        env:
+          PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino

src/drivers/hardware_specific/teensy/teensy3_mcu.cpp

@@ -3,7 +3,6 @@
 // if defined 
 // - Teensy 3.0 MK20DX128
 // - Teensy 3.1/3.2 MK20DX256
-// - Teensy 3.5 MK20DX128
 // - Teensy LC MKL26Z64
 // - Teensy 3.5 MK64FX512
 // - Teensy 3.6 MK66FX1M0
@@ -14,7 +13,7 @@
 #pragma message("SimpleFOC: compiling for Teensy 3.x")
 #pragma message("")
 
-// pin definition from https://github.com/PaulStoffregen/cores/blob/286511f3ec849a6c9e0ec8b73ad6a2fada52e44c/teensy3/pins_teensy.c
+// pin definition from https://github.com/PaulStoffregen/cores/blob/286511f3ec849a6c9e0ec8b73ad6a2fada52e44c/teensy3/pins_teensy.c#L627
 #if defined(__MK20DX128__)
 #define FTM0_CH0_PIN 22
 #define FTM0_CH1_PIN 23
@@ -116,7 +115,7 @@ int _findTimer( const int Ah, const int Al,  const int Bh, const int Bl, const i
       }
   }
 
-  #ifdef FTM3_SC // if the board has FTM3 timer
+#ifdef FTM3_CH0_PIN // if the board has FTM3 timer
     if((Ah == FTM3_CH0_PIN && Al == FTM3_CH1_PIN) || 
       (Ah == FTM3_CH2_PIN && Al == FTM3_CH3_PIN) ||
       (Ah == FTM3_CH4_PIN && Al == FTM3_CH5_PIN) ){
@@ -134,7 +133,7 @@ int _findTimer( const int Ah, const int Al,  const int Bh, const int Bl, const i
           }
         }
     }
-  #endif
+#endif
 
 #ifdef SIMPLEFOC_TEENSY_DEBUG
   SIMPLEFOC_DEBUG("TEENSY-DRV: ERR: Pins not on timers FTM0 or FTM3!");