Measured Current A/B not swapped in alignBLDCDriver()

[woods1712]

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

Line 270 in 7f9c45f

_swap(c_a.b, c_a.b);

I found a typo where the measured current from phase B is swapped with itself instead of the current for phase A

[adeshsudhir]

I investigated this and I believe the issue is caused by the cached phase current not being updated after the A/B mapping is swapped.

During alignment, the code swaps:

• pinA <-> pinB
• offset_ia <-> offset_ib
• gain_a <-> gain_b

However, the cached current is updated using:

_swap(c_a.b, c_a.b);

which is a no-op.

Since c_a was captured before the remapping, I believe this should instead be:

_swap(c_a.a, c_a.b);

to keep the cached measurements consistent before the subsequent polarity check.

If this reasoning is correct, I'd be happy to prepare a PR

[runger1101001]

Good find, thank you! I will definitely fix this for the next release.

[woods1712]

heads up @runger1101001, the same error exists in line 300 of the same file, where A and B are being switched due to _NC on phase B:

else{ //phase A is not measured so put the _NC to the phase A if(_isset(pinA) && !_isset(pinB)){ SIMPLEFOC_DEBUG("CS: Switch A-(B)NC"); _swap(pinA, pinB); _swap(offset_ia, offset_ib); _swap(gain_a, gain_b); _swap(c_a.b, c_a.b); phases_switched = true; // signal that pins have been switched