Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-20 14:38:18 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

restore timers to original output after sync

Browse Source
This commit is contained in:
wzli
2016-12-01 23:31:26 +09:00
parent fc79d0b0e1
commit 5df7b74a2c
1 changed files with 11 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
MotorControl/low_level.c
+11 -6
View File
@@ -130,13 +130,17 @@ static void start_pwm(TIM_HandleTypeDef htim){
static void sync_timers(TIM_HandleTypeDef htim_a, TIM_HandleTypeDef htim_b,
uint16_t internal_trigger_source, uint16_t count_offset) {
//Turn off output
__HAL_TIM_MOE_DISABLE(&htim_a);
__HAL_TIM_MOE_DISABLE(&htim_b);
//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);
uint16_t CR2_store = htim_a.Instance->CR2;
uint16_t SMCR_store = htim_b.Instance->SMCR;
//Turn off output
__HAL_TIM_MOE_DISABLE(&htim_a);
__HAL_TIM_MOE_DISABLE(&htim_b);
/* Disable both timer counters*/
htim_a.Instance->CR1 &= ~TIM_CR1_CEN;
htim_b.Instance->CR1 &= ~TIM_CR1_CEN;
@@ -153,6 +157,7 @@ static void sync_timers(TIM_HandleTypeDef htim_a, TIM_HandleTypeDef htim_b,
htim_b.Instance->SMCR &= ~TIM_SMCR_SMS;
htim_b.Instance->SMCR |= TIM_SLAVEMODE_TRIGGER;
// set counter offset
htim_a.Instance->CNT = 0;
htim_b.Instance->CNT = count_offset;
@@ -163,9 +168,9 @@ static void sync_timers(TIM_HandleTypeDef htim_a, TIM_HandleTypeDef htim_b,
htim_a.Instance->CR2 = CR2_store;
htim_b.Instance->SMCR = SMCR_store;
//Turn on output
__HAL_TIM_MOE_ENABLE(&htim_a);
__HAL_TIM_MOE_ENABLE(&htim_b);
//restore output
htim_a.Instance->BDTR |= MOE_store_a;
htim_b.Instance->BDTR |= MOE_store_b;
}
static void init_encoders() {