From 915de96e80ae44aad9e65d1311d8ed6f94ce32b2 Mon Sep 17 00:00:00 2001
From: pmantoine <pma-github@milleng.com.au>
Date: Wed, 10 Aug 2022 10:45:33 +0800
Subject: [PATCH] DC mode portability for ARM (SAMD21/STM32)

---
 MotorDriver.h | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/MotorDriver.h b/MotorDriver.h
index 7a155ae..03b5041 100644
--- a/MotorDriver.h
+++ b/MotorDriver.h
@@ -137,10 +137,12 @@ class MotorDriver {
     inline byte getSignalPin() { return signalPin; };
     virtual void setDCSignal(byte speedByte);
     inline void detachDCSignal() {
-#ifndef ARDUINO_ARCH_ESP32
-      setDCSignal(128);
-#else
+#if defined(__arm__)
+      pinMode(brakePin, OUTPUT);
+#elif defined(ARDUINO_ARCH_ESP32)
       ledcDetachPin(brakePin);
+#else
+      setDCSignal(128);
 #endif
     };
     virtual int  getCurrentRaw();
@@ -148,7 +150,8 @@ class MotorDriver {
     virtual unsigned int raw2mA( int raw);
     virtual unsigned int mA2raw( unsigned int mA);
     inline bool brakeCanPWM() {
-#ifdef ARDUINO_ARCH_ESP32
+#if defined(ARDUINO_ARCH_ESP32) || defined(__arm__)
+      // TODO: on ARM we can use digitalPinHasPWM, and may wish/need to
       return true;
 #else
 #ifdef digitalPinToTimer
@@ -156,7 +159,7 @@ class MotorDriver {
 #else
       return (brakePin<14 && brakePin >1);
 #endif //digitalPinToTimer
-#endif //ESP32
+#endif //ESP32/ARM
     }
     inline int getRawCurrentTripValue() {
 	    return rawCurrentTripValue;