now working on Portenta H7

simplefoc · Aug 30, 2024 · cd79e01 · cd79e01
1 parent 8102189
commit cd79e01
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Showing 2 changed files with 15 additions and 11 deletions.
diff --git a/src/drivers/hardware_specific/stm32/stm32_mcu.cpp b/src/drivers/hardware_specific/stm32/stm32_mcu.cpp
@@ -147,12 +147,11 @@ TIM_HandleTypeDef* stm32_initPinPWM(uint32_t PWM_freq, PinMap* timer, uint32_t m
     return NULL;
   TIM_HandleTypeDef* handle = stm32_getTimer(timer);
   uint32_t channel = STM_PIN_CHANNEL(timer->function);
-  #ifdef SIMPLEFOC_STM32_DEBUG
-    SIMPLEFOC_DEBUG("STM32-DRV: Configuring timer ", (int)stm32_getTimerNumber(handle->Instance));
-    SIMPLEFOC_DEBUG("STM32-DRV: Configuring channel ", (int)channel);
-  #endif
   if (handle==NULL) {
     handle = stm32_useTimer(timer);
+    #ifdef SIMPLEFOC_STM32_DEBUG
+    SIMPLEFOC_DEBUG("STM32-DRV: Initializing TIM", (int)stm32_getTimerNumber(handle->Instance));
+    #endif
     uint32_t arr = stm32_setClockAndARR(handle, PWM_freq);
     if (arr<SIMPLEFOC_STM32_MIN_RESOLUTION) {
       SIMPLEFOC_DEBUG("STM32-DRV: WARN timer resolution too low (<8bit): ", (int)arr+1);
@@ -162,7 +161,6 @@ TIM_HandleTypeDef* stm32_initPinPWM(uint32_t PWM_freq, PinMap* timer, uint32_t m
       SIMPLEFOC_DEBUG("STM32-DRV: Timer resolution set to: ", (int)arr+1);
       #endif
     }
-
   }
   TIM_OC_InitTypeDef channelOC;
   channelOC.OCMode = TIM_OCMODE_PWM1;
@@ -184,6 +182,11 @@ TIM_HandleTypeDef* stm32_initPinPWM(uint32_t PWM_freq, PinMap* timer, uint32_t m
   if (IS_TIM_BREAK_INSTANCE(handle->Instance)) {
     __HAL_TIM_MOE_ENABLE(handle);
   }
+  #ifdef SIMPLEFOC_STM32_DEBUG
+    SimpleFOCDebug::print("STM32-DRV: Configured TIM");
+    SimpleFOCDebug::print((int)stm32_getTimerNumber(handle->Instance));
+    SIMPLEFOC_DEBUG("_CH", (int)channel);
+  #endif
   return handle;
 }
 

diff --git a/src/drivers/hardware_specific/stm32/stm32_timerutils.cpp b/src/drivers/hardware_specific/stm32/stm32_timerutils.cpp
@@ -53,11 +53,11 @@ uint32_t stm32_setClockAndARR(TIM_HandleTypeDef* handle, uint32_t PWM_freq) {
   }
   __HAL_TIM_SET_AUTORELOAD(handle, arr_value);
   stm32_refreshTimer(handle);
-  #ifdef SIMPLEFOC_STM32_DEBUG
-    SIMPLEFOC_DEBUG("STM32-DRV: Timer clock: ", (int)stm32_getTimerClockFreq(handle));
-    SIMPLEFOC_DEBUG("STM32-DRV: Timer prescaler: ", (int)prescaler);
-    SIMPLEFOC_DEBUG("STM32-DRV: Timer ARR: ", (int)arr_value);
-  #endif
+  // #ifdef SIMPLEFOC_STM32_DEBUG
+  //   SIMPLEFOC_DEBUG("STM32-DRV: Timer clock: ", (int)stm32_getTimerClockFreq(handle));
+  //   SIMPLEFOC_DEBUG("STM32-DRV: Timer prescaler: ", (int)prescaler);
+  //   SIMPLEFOC_DEBUG("STM32-DRV: Timer ARR: ", (int)arr_value);
+  // #endif
   return arr_value;
 }
 
@@ -458,7 +458,8 @@ TIM_HandleTypeDef* stm32_alignTimers(TIM_HandleTypeDef *timers_in[], uint8_t num
         LL_TIM_SetSlaveMode(timers[slave_index]->Instance, LL_TIM_SLAVEMODE_GATED);
         #endif
       }
-      stm32_resumeTimer(timers[master_index]); // start the master to start all timers
+      for (int i=0; i<numTimers; i++) // resume the timers TODO at the moment the first PWM cycle is not well-aligned
+        stm32_resumeTimer(timers[i]);
       return timers[master_index];
     }
   }