From 802f9c96b490a2b5f881bf0288dd25983977a1d1 Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Mon, 13 Feb 2023 20:48:48 +0100
Subject: [PATCH] DC via power pin 3rd part

---
 GITHUB_SHA.h    | 2 +-
 MotorDriver.cpp | 9 ++++++++-
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/GITHUB_SHA.h b/GITHUB_SHA.h
index 71f19e4..1ddaac7 100644
--- a/GITHUB_SHA.h
+++ b/GITHUB_SHA.h
@@ -1 +1 @@
-#define GITHUB_SHA "devel-202302122239Z"
+#define GITHUB_SHA "devel-202302131946Z"
diff --git a/MotorDriver.cpp b/MotorDriver.cpp
index 7e4a9a3..51e1a85 100644
--- a/MotorDriver.cpp
+++ b/MotorDriver.cpp
@@ -155,6 +155,13 @@ void MotorDriver::setPower(POWERMODE mode) {
       noInterrupts();
       IODevice::write(powerPin,invertPower ? HIGH : LOW);
       interrupts();
+      if (DCinuse) {
+	// remember current (DC) speed
+	// but set PWM to zero/stop
+	byte s = curSpeedCode;
+	setDCSignal(128);
+	curSpeedCode = s;
+      }
   }
   powerMode=mode; 
 }
@@ -239,7 +246,7 @@ void MotorDriver::startCurrentFromHW() {
 #if defined(ARDUINO_ARCH_ESP32)
 uint16_t taurustones[28] = { 165, 175, 196, 220,
 			     247, 262, 294, 330,
-			     249, 392, 440, 494,
+			     349, 392, 440, 494,
 			     523, 587, 659, 698,
 			     494, 440, 392, 249,
 			     330, 284, 262, 247,