From 238d26b63fb88fe77042055bb410a387f18f9a49 Mon Sep 17 00:00:00 2001
From: askuric <antun.skuric@outlook.com>
Date: Thu, 29 Feb 2024 12:54:32 +0100
Subject: [PATCH] better error messages

---
 .../hardware_specific/teensy/teensy4_mcu.cpp      | 15 +++++++--------
 .../hardware_specific/teensy/teensy_mcu.cpp       |  1 +
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/drivers/hardware_specific/teensy/teensy4_mcu.cpp b/src/drivers/hardware_specific/teensy/teensy4_mcu.cpp
index 6815c10f..0e7953ff 100644
--- a/src/drivers/hardware_specific/teensy/teensy4_mcu.cpp
+++ b/src/drivers/hardware_specific/teensy/teensy4_mcu.cpp
@@ -87,7 +87,8 @@ void xbar_init() {
 IMXRT_FLEXPWM_t* get_flexpwm(uint8_t pin){
  
   const struct pwm_pin_info_struct *info;
-  if (pin >= CORE_NUM_DIGITAL) {
+  info = pwm_pin_info + pin;
+  if (pin >= CORE_NUM_DIGITAL || info->type == 2) {
 #ifdef SIMPLEFOC_TEENSY_DEBUG
     char s[60];
     sprintf (s, "TEENSY-DRV: ERR: Pin: %d not Flextimer pin!", pin);
@@ -95,7 +96,6 @@ IMXRT_FLEXPWM_t* get_flexpwm(uint8_t pin){
 #endif
     return nullptr;
   }
-  info = pwm_pin_info + pin;
   // FlexPWM pin
   IMXRT_FLEXPWM_t *flexpwm;
   switch ((info->module >> 4) & 3) {
@@ -236,17 +236,16 @@ int get_submodule(uint8_t pin, uint8_t pin1){
 // 1 - A
 // 2 - B
 int get_channel(uint8_t pin){
- 
   const struct pwm_pin_info_struct *info;
-  if (pin >= CORE_NUM_DIGITAL){
+  info = pwm_pin_info + pin;
+  if (pin >= CORE_NUM_DIGITAL || info->type == 2){
 #ifdef SIMPLEFOC_TEENSY_DEBUG
-    char s[60];
+    char s[90];
     sprintf (s, "TEENSY-DRV: ERR: Pin: %d not Flextimer pin!", pin);
     SIMPLEFOC_DEBUG(s);
 #endif
     return -1;
   }
-  info = pwm_pin_info + pin;
 #ifdef SIMPLEFOC_TEENSY_DEBUG
     char s[60];
     sprintf (s, "TEENSY-DRV: Pin: %d on channel %s.", pin, info->channel==0 ? "X" : info->channel==1 ? "A" : "B");
@@ -598,7 +597,7 @@ void write_pwm_on_pin(IMXRT_FLEXPWM_t *p, unsigned int submodule, uint8_t channe
   // we can configure the center-aligned pwm
   if((flexpwmA != nullptr) && (flexpwmB != nullptr) && (flexpwmC != nullptr) && (channelA > 0) && (channelB > 0) && (channelC > 0) ){
     #ifdef SIMPLEFOC_TEENSY_DEBUG
-      SIMPLEFOC_DEBUG("TEENSY-DRV: All pins on Flexpwm A or B submodules - Configuring center-aligned pwm!");
+      SIMPLEFOC_DEBUG("TEENSY-DRV: All pins on Flexpwm A or B channels - Configuring center-aligned pwm!");
     #endif
 
     // Configure FlexPWM units
@@ -645,7 +644,7 @@ void write_pwm_on_pin(IMXRT_FLEXPWM_t *p, unsigned int submodule, uint8_t channe
     return params;
   }else{
     #ifdef SIMPLEFOC_TEENSY_DEBUG
-      SIMPLEFOC_DEBUG("TEENSY-DRV: Not all pins on Flexpwm A and B submodules - cannot configure center-aligned pwm!");
+      SIMPLEFOC_DEBUG("TEENSY-DRV: Not all pins on Flexpwm A and B channels - cannot configure center-aligned pwm!");
     #endif
     return SIMPLEFOC_DRIVER_INIT_FAILED;
   }  
diff --git a/src/drivers/hardware_specific/teensy/teensy_mcu.cpp b/src/drivers/hardware_specific/teensy/teensy_mcu.cpp
index 2ad5f57c..196f07fd 100644
--- a/src/drivers/hardware_specific/teensy/teensy_mcu.cpp
+++ b/src/drivers/hardware_specific/teensy/teensy_mcu.cpp
@@ -61,6 +61,7 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
   if(p != SIMPLEFOC_DRIVER_INIT_FAILED){
     return p; // if center aligned pwm is available return the params
   }else{ // if center aligned pwm is not available use fast pwm
+    SIMPLEFOC_DEBUG("TEENSY-DRV: Configuring 3PWM with fast pwm. Please consider using center aligned pwm for better performance!");
     _setHighFrequency(pwm_frequency, pinA);
     _setHighFrequency(pwm_frequency, pinB);
     _setHighFrequency(pwm_frequency, pinC);