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use tim13 as realtime control diagnostic timebase

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This commit is contained in:
Oskar Weigl
2018-10-24 21:56:02 -07:00
parent f22199bf95
commit 1511ae1db7
4 changed files with 21 additions and 18 deletions
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Firmware/MotorControl/low_level.cpp
+16 -9
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@@ -216,7 +216,8 @@ void start_adc_pwm() {
start_pwm(&htim1);
start_pwm(&htim8);
// TODO: explain why this offset
sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_1_8_PERIOD_CLOCKS / 2 - 1 * 128);
sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_1_8_PERIOD_CLOCKS / 2 - 1 * 128,
&htim13);
// Motor output starts in the disabled state
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(&htim1);
@@ -259,7 +260,8 @@ void start_pwm(TIM_HandleTypeDef* htim) {
}
void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
uint16_t TIM_CLOCKSOURCE_ITRx, uint16_t count_offset) {
uint16_t TIM_CLOCKSOURCE_ITRx, uint16_t count_offset,
TIM_HandleTypeDef* htim_refbase) {
// Store intial timer configs
uint16_t MOE_store_a = htim_a->Instance->BDTR & (TIM_BDTR_MOE);
uint16_t MOE_store_b = htim_b->Instance->BDTR & (TIM_BDTR_MOE);
@@ -294,6 +296,11 @@ void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
// set counter offset
htim_a->Instance->CNT = count_offset;
htim_b->Instance->CNT = 0;
// Set and start reference timebase timer (if used)
if (htim_refbase) {
htim_refbase->Instance->CNT = count_offset;
htim_refbase->Instance->CR1 |= (TIM_CR1_CEN); // start
}
// Start Timer a
htim_a->Instance->CR1 |= (TIM_CR1_CEN);
// Restore timer configs
@@ -475,8 +482,14 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
int axis_num = injected ? 0 : 1;
Axis& other_axis = injected ? *axes[1] : *axes[0];
bool counting_down = axis.motor_.hw_config_.timer->Instance->CR1 & TIM_CR1_DIR;
bool current_meas_not_DC_CAL = !counting_down;
// Check the timing of the sequencing
if (current_meas_not_DC_CAL)
axis.motor_.log_timing(Motor::TIMING_LOG_ADC_CB_I);
else
axis.motor_.log_timing(Motor::TIMING_LOG_ADC_CB_DC);
bool update_timings = false;
if (hadc == &hadc2) {
if (&axis == axes[1] && counting_down)
@@ -503,12 +516,6 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
update_brake_current();
}
// Check the timing of the sequencing
if (current_meas_not_DC_CAL)
axis.motor_.log_timing(Motor::TIMING_LOG_ADC_CB_I);
else
axis.motor_.log_timing(Motor::TIMING_LOG_ADC_CB_DC);
uint32_t ADCValue;
if (injected) {
ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);