Problems with SimpleFOC on Arduino Nano 33

hardware support
1

Hello everybody,
When porting the SimpleFOC algorithm to an Arduino Nano (nRF52840) I get error messages from the IDE regarding the interrupt handler. Below you can see the error massages. I can not explain the error, maybe someone of you has a solution to my problem.

\\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.cpp: In member function 'void StepDirListener::enableInterrupt(void (*)())':
\\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.cpp:16:67: error: no matching function for call to 'attachInterrupt(int&, void (*&)(), int&)'
     attachInterrupt(digitalPinToInterrupt(pin_step), doA, polarity);
                                                                   ^
In file included from C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\variants\ARDUINO_NANO33BLE/pinmode_arduino.h:23:0,
                 from C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/Arduino.h:26,
                 from \\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.h:4,
                 from \\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.cpp:1:
C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/api/Common.h:113:6: note: candidate: void attachInterrupt(pin_size_t, voidFuncPtr, PinStatus) <near match>
 void attachInterrupt(pin_size_t interruptNumber, voidFuncPtr callback, PinStatus mode);
      ^~~~~~~~~~~~~~~
C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/api/Common.h:113:6: note:   conversion of argument 3 would be ill-formed:
\\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.cpp:16:59: error: invalid conversion from 'int' to 'PinStatus' [-fpermissive]
     attachInterrupt(digitalPinToInterrupt(pin_step), doA, polarity);
                                                           ^~~~~~~~
In file included from C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/Arduino.h:127:0,
                 from \\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.h:4,
                 from \\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.cpp:1:
C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/overloads.h:35:6: note: candidate: void attachInterrupt(PinName, voidFuncPtr, PinStatus) <near match>
 void attachInterrupt(PinName interruptNumber, voidFuncPtr callback, PinStatus mode);
      ^~~~~~~~~~~~~~~
C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/overloads.h:35:6: note:   conversion of argument 3 would be ill-formed:
\\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.cpp:16:59: error: invalid conversion from 'int' to 'PinStatus' [-fpermissive]
     attachInterrupt(digitalPinToInterrupt(pin_step), doA, polarity);
                                                           ^~~~~~~~
In file included from C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/api/ArduinoAPI.h:29:0,
                 from C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/Arduino.h:27,
                 from \\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.h:4,
                 from \\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.cpp:1:
C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/api/Interrupts.h:38:27: note: candidate: template<class T> void arduino::attachInterrupt(pin_size_t, arduino::voidTemplateFuncPtrParam<T*>, PinStatus, T*)
 template<typename T> void attachInterrupt(pin_size_t interruptNum, voidTemplateFuncPtrParam<T*> userFunc, PinStatus mode, T* param) {
                           ^~~~~~~~~~~~~~~
C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/api/Interrupts.h:38:27: note:   template argument deduction/substitution failed:
\\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.cpp:16:67: note:   candidate expects 1 argument, 0 provided
     attachInterrupt(digitalPinToInterrupt(pin_step), doA, polarity);
                                                                   ^
In file included from C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/api/ArduinoAPI.h:29:0,
                 from C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/Arduino.h:27,
                 from \\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.h:4,
                 from \\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.cpp:1:
C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/api/Interrupts.h:21:27: note: candidate: template<class T> void arduino::attachInterrupt(pin_size_t, arduino::voidTemplateFuncPtrParam<T>, PinStatus, T&)
 template<typename T> void attachInterrupt(pin_size_t interruptNum, voidTemplateFuncPtrParam<T> userFunc, PinStatus mode, T& param) {
                           ^~~~~~~~~~~~~~~
C:\Users\Marcel.Schuster\AppData\Local\Arduino15\packages\arduino\hardware\mbed_nano\4.0.6\cores\arduino/api/Interrupts.h:21:27: note:   template argument deduction/substitution failed:
\\nafiler.foerster.net\Daten\User_Data\Marcel.Schuster\Documents\Arduino\libraries\Simple_FOC\src\communication\StepDirListener.cpp:16:67: note:   candidate expects 1 argument, 0 provided
     attachInterrupt(digitalPinToInterrupt(pin_step), doA, polarity);
                                                                   ^

exit status 1

Compilation error: exit status 1
2

Hi,

This is an annoying bug affecting some framework versions - the attachInterrupt() function is defined inconsistently across the different frameworks. It’s very annoying.

If you’re not using the StepDirListener class, perhaps just comment out the offending lines to get rid of the problem?

I will try to fix it in the next release, but this one is hard to catch - I can’t test all the boards that are out there, and this is a case where (for example) the Adafruit boards and the Arduino boards of the same MCU can be different :frowning:

3

Hi Runger,

this works for me, thank you!