From 9ad3c5b0d75784b5881d94b44b3b86f54a8a7f3b Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Mon, 7 Feb 2022 00:14:43 +0100
Subject: [PATCH] ESP8266 specific adaptions

---
 MotorDriver.cpp   | 4 +++-
 SerialManager.cpp | 7 ++++++-
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/MotorDriver.cpp b/MotorDriver.cpp
index 2aa9639..3b76fa4 100644
--- a/MotorDriver.cpp
+++ b/MotorDriver.cpp
@@ -141,12 +141,14 @@ bool MotorDriver::canMeasureCurrent() {
  * a central value depending on direction.
  */
 int MotorDriver::getCurrentRaw() {
-  if (currentPin==UNUSED_PIN) return 0; 
+  if (currentPin==UNUSED_PIN) return 0;
   int current;
 #if defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41)
   bool irq = disableInterrupts();
   current = analogRead(currentPin)-senseOffset;
   enableInterrupts(irq);
+#elif defined(ARDUINO_ARCH_ESP8266)
+  current = analogRead(currentPin)-senseOffset;
 #else // Uno, Mega and all the TEENSY3* but not TEENSY4* 
   unsigned char sreg_backup;
   sreg_backup = SREG;   /* save interrupt enable/disable state */
diff --git a/SerialManager.cpp b/SerialManager.cpp
index 8717227..9cf559c 100644
--- a/SerialManager.cpp
+++ b/SerialManager.cpp
@@ -32,7 +32,12 @@ SerialManager::SerialManager(Stream * myserial) {
 } 
 
 void SerialManager::init() {
-  while (!Serial && millis() < 5000); // wait max 5s for Serial to start
+  while (!Serial && millis() < 5000) // wait max 5s for Serial to start
+#if defined(ARDUINO_ARCH_ESP8266)
+    yield();                         // yield (otherwise chip resets)
+#else
+    ;                                // do nothing
+#endif
   Serial.begin(115200);
   new SerialManager(&Serial);
 #ifdef SERIAL3_COMMANDS