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Bugfix: Only change speed of pwm at end of cycle interrupt

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This commit is contained in:
Ben V. Brown
2022-02-05 10:23:56 +11:00
parent a461577ee2
commit 4f38236a00
1 changed files with 13 additions and 10 deletions
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23
source/Core/BSP/Miniware/BSP.cpp
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@@ -20,6 +20,7 @@ static const uint8_t tempMeasureTicks = 14;
uint16_t totalPWM; // htim2.Init.Period, the full PWM cycle uint16_t totalPWM; // htim2.Init.Period, the full PWM cycle
static bool fastPWM; static bool fastPWM;
static bool infastPWM;
void resetWatchdog() { HAL_IWDG_Refresh(&hiwdg); } void resetWatchdog() { HAL_IWDG_Refresh(&hiwdg); }
#ifdef TEMP_NTC #ifdef TEMP_NTC
@@ -135,7 +136,7 @@ uint16_t getInputVoltageX10(uint16_t divisor, uint8_t sample) {
static void switchToFastPWM(void) { static void switchToFastPWM(void) {
// 10Hz // 10Hz
fastPWM = true; infastPWM = true;
totalPWM = powerPWM + tempMeasureTicks + holdoffTicks; totalPWM = powerPWM + tempMeasureTicks + holdoffTicks;
htim2.Instance->ARR = totalPWM; htim2.Instance->ARR = totalPWM;
htim2.Instance->CCR1 = powerPWM + holdoffTicks; htim2.Instance->CCR1 = powerPWM + holdoffTicks;
@@ -144,7 +145,7 @@ static void switchToFastPWM(void) {
static void switchToSlowPWM(void) { static void switchToSlowPWM(void) {
// 5Hz // 5Hz
fastPWM = false; infastPWM = false;
totalPWM = powerPWM + tempMeasureTicks / 2 + holdoffTicks / 2; totalPWM = powerPWM + tempMeasureTicks / 2 + holdoffTicks / 2;
htim2.Instance->ARR = totalPWM; htim2.Instance->ARR = totalPWM;
htim2.Instance->CCR1 = powerPWM + holdoffTicks / 2; htim2.Instance->CCR1 = powerPWM + holdoffTicks / 2;
@@ -152,16 +153,10 @@ static void switchToSlowPWM(void) {
} }
void setTipPWM(const uint8_t pulse, const bool shouldUseFastModePWM) { void setTipPWM(const uint8_t pulse, const bool shouldUseFastModePWM) {
PWMSafetyTimer = 10; // This is decremented in the handler for PWM so that the tip pwm is PWMSafetyTimer = 20; // This is decremented in the handler for PWM so that the tip pwm is
// disabled if the PID task is not scheduled often enough. // disabled if the PID task is not scheduled often enough.
fastPWM = shouldUseFastModePWM;
pendingPWM = pulse; pendingPWM = pulse;
if (fastPWM != shouldUseFastModePWM) {
if (shouldUseFastModePWM) {
switchToFastPWM();
} else {
switchToSlowPWM();
}
}
} }
// These are called by the HAL after the corresponding events from the system // These are called by the HAL after the corresponding events from the system
// timers. // timers.
@@ -182,6 +177,14 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
} else { } else {
HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1); HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);
} }
if (fastPWM != infastPWM) {
if (fastPWM) {
switchToFastPWM();
} else {
switchToSlowPWM();
}
}
} else if (htim->Instance == TIM1) { } else if (htim->Instance == TIM1) {
// STM uses this for internal functions as a counter for timeouts // STM uses this for internal functions as a counter for timeouts
HAL_IncTick(); HAL_IncTick();