Change references to BLDCDriver to FOCDriver in current sense base class

change setPwm function in FOCDriver to accept 3 args, with a default value for the 3rd

Change stepper driver classes to use 3 arg setPwm, ignoring 3rd arg.

created InlineCurrentSenseSync class in lib/currentsense.

fixed timer bug in calibrate encoder, in main

defined a label for serialusb, to make it easier to swap out.

firmware/lib/Arduino-FOC/src/common/base_classes/CurrentSense.cpp

@@ -110,12 +110,12 @@ DQCurrent_s CurrentSense::getFOCCurrents(float angle_el)
 /**
     Driver linking to the current sense
 */
-void CurrentSense::linkDriver(BLDCDriver *_driver)
+void CurrentSense::linkDriver(FOCDriver *_driver)
 {
     driver = _driver;
 }
 
-void CurrentSense::linkDriver(StepperDriver *_driver)
-{
-    driver = _driver;
-}
+// void CurrentSense::linkDriver(StepperDriver *_driver)
+// {
+//     driver = _driver;
+// }

firmware/lib/Arduino-FOC/src/common/base_classes/CurrentSense.h

@@ -24,8 +24,8 @@ class CurrentSense{
      * Linking the current sense with the motor driver
      * Only necessary if synchronisation in between the two is required
      */
-    void linkDriver(BLDCDriver *driver);
-    void linkDriver(StepperDriver *driver);
+    void linkDriver(FOCDriver *driver);
+    // void linkDriver(StepperDriver *driver);
 
     // variables
     bool skip_align = false; //!< variable signaling that the phase current direction should be verified during initFOC()
@@ -72,4 +72,4 @@ class CurrentSense{
     DQCurrent_s getFOCCurrents(float angle_el);
 };
 
-#endif
+#endif

firmware/lib/Arduino-FOC/src/common/base_classes/FOCDriver.h

@@ -1,7 +1,8 @@
-#ifndef FOCMOTOR_H
-#define FOTMOTOR_H
+#ifndef FOCDRIVER_H
+#define FOCDRIVER_H
 
 #include "Arduino.h"
+#include "../foc_utils.h"
 
 class FOCDriver{
     public: 
@@ -11,6 +12,9 @@ class FOCDriver{
 
         virtual void disable() = 0;
 
+        virtual void setPwm(float a, float b, float c);
+        // virtual void setPwm(uint8_t a, uint8_t b);
+
         long pwm_frequency;
         float voltage_power_supply;
         float voltage_limit;
@@ -18,4 +22,4 @@ class FOCDriver{
         void* params = 0;
 };
 
-#endif
+#endif

firmware/lib/Arduino-FOC/src/common/base_classes/StepperDriver.h

@@ -12,7 +12,7 @@ class StepperDriver: public FOCDriver{
          * @param Ua phase A voltage
          * @param Ub phase B voltage
         */
-        virtual void setPwm(float Ua, float Ub) = 0;
+        virtual void setPwm(float Ua, float Ub, float Uc=NOT_SET) = 0;
 };
 
-#endif
+#endif

firmware/lib/Arduino-FOC/src/drivers/StepperDriver2PWM.cpp

@@ -86,7 +86,7 @@ int StepperDriver2PWM::init() {
 
 
 // Set voltage to the pwm pin
-void StepperDriver2PWM::setPwm(float Ua, float Ub) {
+void StepperDriver2PWM::setPwm(float Ua, float Ub, float Uc) {
   float duty_cycle1(0.0f),duty_cycle2(0.0f);
   // limit the voltage in driver
   Ua = _constrain(Ua, -voltage_limit, voltage_limit);
@@ -104,4 +104,4 @@ void StepperDriver2PWM::setPwm(float Ua, float Ub) {
 
   // write to hardware
   _writeDutyCycle2PWM(duty_cycle1, duty_cycle2, params);
-}
+}

firmware/lib/Arduino-FOC/src/drivers/StepperDriver2PWM.h

@@ -58,7 +58,7 @@ class StepperDriver2PWM: public StepperDriver
      * @param Ua phase A voltage
      * @param Ub phase B voltage
     */
-    void setPwm(float Ua, float Ub) override;
+    void setPwm(float Ua, float Ub, float NOT_USED=NOT_SET) override;
 
   private:
         

firmware/lib/Arduino-FOC/src/drivers/StepperDriver4PWM.cpp

@@ -60,8 +60,9 @@ int StepperDriver4PWM::init() {
 }
 
 
+
 // Set voltage to the pwm pin
-void StepperDriver4PWM::setPwm(float Ualpha, float Ubeta) {
+void StepperDriver4PWM::setPwm(float Ualpha, float Ubeta, float Uc) {
   float duty_cycle1A(0.0f),duty_cycle1B(0.0f),duty_cycle2A(0.0f),duty_cycle2B(0.0f);
   // limit the voltage in driver
   Ualpha = _constrain(Ualpha, -voltage_limit, voltage_limit);
@@ -78,4 +79,4 @@ void StepperDriver4PWM::setPwm(float Ualpha, float Ubeta) {
     duty_cycle2A = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
   // write to hardware
   _writeDutyCycle4PWM(duty_cycle1A, duty_cycle1B, duty_cycle2A, duty_cycle2B, params);
-}
+}

firmware/lib/Arduino-FOC/src/drivers/StepperDriver4PWM.h

@@ -45,7 +45,8 @@ class StepperDriver4PWM: public StepperDriver
      * @param Ua phase A voltage
      * @param Ub phase B voltage
     */
-    void setPwm(float Ua, float Ub) override;
+    void setPwm(float Ua, float Ub, float NOT_USED = NOT_SET) override;
+    // void setPwm(float Ua, float Ub) override;
 
   private: