Update teensy4_mcu.cpp _writeDutyCycle6PWM to handle phase_state to allow disabling the motor#498
Merged
askuric merged 3 commits intosimplefoc:devfrom Dec 18, 2025
Merged
Conversation
Dev to master v2.3.5
Handles phase_state so that PWM pins will be disabled when motor.disable() is called. This enables coasting the motor on drivers where the enable pin does not fully disable the driver and all 6 PWM pins must be disabled.
Member
|
Very nice, thank you for this contribution! Do you know when the phase-state setting takes effect? Is it right away, or is it also related to the line in write_pwm_pair():
If its immediate I would have said its better to pre-compute the changes for all three phases and set them at the same time? |
Member
|
This could probably be optimised further as @runger1101001 said, but I think its ok for the moment I think. It is already a very nice addition. |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Handles phase_state on Teensy 4.1 so that PWM pins will be disabled when motor.disable() is called.
Description
This is only for Teensy 4.
This enables coasting the motor on drivers where the enable pin does not fully disable the driver and all 6 PWM pins must be disabled. Without this, the motor would lock up when calling motor.disable() due to PWM pins still being active when using driver board: https://www.sparkfun.com/sparkfun-brushless-motor-driver-3-phase-tmc6300.html
Type of change
Bug fix (non-breaking change which fixes an issue)
How Has This Been Tested?
Motor spins freely when calling motor.disable()
Test Configuration/Setup: