@@ -10,3 +10,14 @@ Firmware for the xmega is under development, but you can see [firmware notes for
To get spindles spinning with only a wee amount of c-programming time, I'm going to write a dirty/nasty/simple commutation scheme.
## 3-Channel Hi / Lo Side PWM with AWeX
XMega has some built in functionality for motor / h-bridge drive, namely the AWeX (waveform extension) module that runs on top of the timer/counter system (which runs PWM).
This is set-up in the code, and I've verified I have the write outputs writing to the right outputs (haha). Nice.

## 6-Step Commutation
To do this quickly, I'm just going to yoke a timer to a blind 6-step commutation cycle.