Correct logic to detect failed SPI communication and add option switch PWM to pass-through modes. DIP SW 1 ON enabled direct IRC pass-through to GPIO pins. When DIP SW2 is selected then PWM can be controlled by GPIO. SW3 select between direction and PWM mode and complete 3 phase and 3 enables signals control mode. Signed-off-by: Pavel Pisa <ppisa@pikron.com>
Commutation function now implemented with use of polymorphism.