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turn off output during timer sync, added 90 deg phase offset to timers

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This commit is contained in:
wzli
2016-11-28 01:15:49 +09:00
parent 47fedb08e7
commit 7195f94367
1 changed files with 10 additions and 4 deletions
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MotorControl/low_level.c
+10 -4
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@@ -126,6 +126,10 @@ 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);
uint16_t CR2_store = htim_a.Instance->CR2;
uint16_t SMCR_store = htim_b.Instance->SMCR;
@@ -143,7 +147,7 @@ static void sync_timers(TIM_HandleTypeDef htim_a, TIM_HandleTypeDef htim_b,
/* Set 2nd timer to start on trigger*/
htim_b.Instance->SMCR &= ~TIM_SMCR_SMS;
htim_b.Instance->SMCR |= (TIM_SMCR_SMS_2 | TIM_SMCR_SMS_1);
htim_b.Instance->SMCR |= TIM_SLAVEMODE_TRIGGER;
htim_a.Instance->CNT = 0;
htim_b.Instance->CNT = count_offset;
@@ -154,6 +158,10 @@ static void sync_timers(TIM_HandleTypeDef htim_a, TIM_HandleTypeDef htim_b,
/* Restore timer configs */
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);
}
static void start_adc_pwm(){
@@ -171,9 +179,7 @@ static void start_adc_pwm(){
start_pwm(htim1);
start_pwm(htim8);
sync_timers(htim1, htim8, TIM_CLOCKSOURCE_ITR0, 0);
sync_timers(htim1, htim8, TIM_CLOCKSOURCE_ITR0, htim1.Instance->ARR/2);
}
static float phase_current_from_adcval(uint32_t ADCValue, int motornum) {