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Rename clock constants due to different APB1 and APB2 clocks

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This commit is contained in:
Oskar Weigl
2017-02-04 23:12:04 +01:00
parent 7f019cccc2
commit 0cec4e2f6c
4 changed files with 27 additions and 25 deletions
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MotorControl/low_level.c
+13 -11
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@@ -35,8 +35,8 @@ Motor_t motors[] = {
.motor_thread = 0,
.thread_ready = false,
.motor_timer = &htim1,
.next_timings = {TIM_PERIOD_CLOCKS/2, TIM_PERIOD_CLOCKS/2, TIM_PERIOD_CLOCKS/2},
.control_deadline = TIM_PERIOD_CLOCKS,
.next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
.control_deadline = TIM_1_8_PERIOD_CLOCKS,
.current_meas = {0.0f, 0.0f},
.DC_calib = {0.0f, 0.0f},
.gate_driver = {
@@ -72,8 +72,8 @@ Motor_t motors[] = {
.motor_thread = 0,
.thread_ready = false,
.motor_timer = &htim8,
.next_timings = {TIM_PERIOD_CLOCKS/2, TIM_PERIOD_CLOCKS/2, TIM_PERIOD_CLOCKS/2},
.control_deadline = (3*TIM_PERIOD_CLOCKS)/2,
.next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
.control_deadline = (3*TIM_1_8_PERIOD_CLOCKS)/2,
.current_meas = {0.0f, 0.0f},
.DC_calib = {0.0f, 0.0f},
.gate_driver = {
@@ -211,12 +211,14 @@ static void start_adc_pwm(){
start_pwm(&htim1);
start_pwm(&htim8);
//TODO: explain why this offset
sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_PERIOD_CLOCKS/2 - 1*128);
sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_1_8_PERIOD_CLOCKS/2 - 1*128);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
}
static void start_pwm(TIM_HandleTypeDef* htim){
//Init PWM
int half_load = TIM_PERIOD_CLOCKS/2;
int half_load = TIM_1_8_PERIOD_CLOCKS/2;
htim->Instance->CCR1 = half_load;
htim->Instance->CCR2 = half_load;
htim->Instance->CCR3 = half_load;
@@ -461,8 +463,8 @@ static uint16_t check_timing(TIM_HandleTypeDef* htim, volatile uint16_t* log, vo
uint16_t timing = htim->Instance->CNT;
bool down = htim->Instance->CR1 & TIM_CR1_DIR;
if (down) {
uint16_t delta = TIM_PERIOD_CLOCKS - timing;
timing = TIM_PERIOD_CLOCKS + delta;
uint16_t delta = TIM_1_8_PERIOD_CLOCKS - timing;
timing = TIM_1_8_PERIOD_CLOCKS + delta;
}
if (log != NULL && idx != NULL) {
@@ -503,9 +505,9 @@ static float measure_phase_resistance(Motor_t* motor, float test_current, float
static void queue_modulation_timings(Motor_t* motor, float mod_alpha, float mod_beta) {
float tA, tB, tC;
SVM(mod_alpha, mod_beta, &tA, &tB, &tC);
motor->next_timings[0] = (uint16_t)(tA * (float)TIM_PERIOD_CLOCKS);
motor->next_timings[1] = (uint16_t)(tB * (float)TIM_PERIOD_CLOCKS);
motor->next_timings[2] = (uint16_t)(tC * (float)TIM_PERIOD_CLOCKS);
motor->next_timings[0] = (uint16_t)(tA * (float)TIM_1_8_PERIOD_CLOCKS);
motor->next_timings[1] = (uint16_t)(tB * (float)TIM_1_8_PERIOD_CLOCKS);
motor->next_timings[2] = (uint16_t)(tC * (float)TIM_1_8_PERIOD_CLOCKS);
}
static void queue_voltage_timings(Motor_t* motor, float v_alpha, float v_beta) {