From 394ff7f586f3fbd8c07da50fe19cfc30ab9b0f2d Mon Sep 17 00:00:00 2001
From: Atsushi Watanabe <atsushi.w@ieee.org>
Date: Fri, 4 Aug 2023 15:22:55 +0900
Subject: [PATCH] Explicitly set PWM invert flag

---
 tfrog-motordriver/controlPWM.c | 2 ++
 tfrog-motordriver/main.c       | 6 ++++--
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/tfrog-motordriver/controlPWM.c b/tfrog-motordriver/controlPWM.c
index 26b6f7e..22442ee 100644
--- a/tfrog-motordriver/controlPWM.c
+++ b/tfrog-motordriver/controlPWM.c
@@ -85,6 +85,8 @@ extern volatile char rs485_timeout;
 
 void controlPWM_config(int32_t i)
 {
+  THEVA.MOTOR[i].INVERT = 0;
+
   switch (motor_param[i].motor_type)
   {
     case MOTOR_TYPE_DC:
diff --git a/tfrog-motordriver/main.c b/tfrog-motordriver/main.c
index 7ebc07e..31d2a58 100644
--- a/tfrog-motordriver/main.c
+++ b/tfrog-motordriver/main.c
@@ -716,10 +716,12 @@ int main()
   {
     AT91C_BASE_WDTC->WDTC_WDCR = 1 | 0xA5000000;
 
-    if (err_chk++ % 20 == 0)
+    if (err_chk++ % 30 == 0)
     {
       if ((volatile int32_t)THEVA.GENERAL.PWM.HALF_PERIOD != saved_param.PWM_resolution ||
-          (volatile int32_t)THEVA.GENERAL.PWM.DEADTIME != saved_param.PWM_deadtime)
+          (volatile int32_t)THEVA.GENERAL.PWM.DEADTIME != saved_param.PWM_deadtime ||
+          THEVA.MOTOR[0].INVERT != 0 ||
+          THEVA.MOTOR[1].INVERT != 0)
       {
         err_cnt++;
         controlPWM_init();