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Commit d646ad4

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author
Richard Unger
committed
implement hi-z in 6-PWM for stm32 and rp2040
1 parent c4d0a3b commit d646ad4

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2 files changed

+52
-12
lines changed

2 files changed

+52
-12
lines changed

‎src/drivers/hardware_specific/rp2040_mcu.cpp

Lines changed: 26 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -206,12 +206,32 @@ inline float swDti(float val, float dt) {
206206
}
207207

208208
void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params) {
209-
writeDutyCycle(dc_a, ((RP2040DriverParams*)params)->slice[0], ((RP2040DriverParams*)params)->chan[0]);
210-
writeDutyCycle(swDti(dc_a, ((RP2040DriverParams*)params)->dead_zone), ((RP2040DriverParams*)params)->slice[1], ((RP2040DriverParams*)params)->chan[1]);
211-
writeDutyCycle(dc_b, ((RP2040DriverParams*)params)->slice[2], ((RP2040DriverParams*)params)->chan[2]);
212-
writeDutyCycle(swDti(dc_b, ((RP2040DriverParams*)params)->dead_zone), ((RP2040DriverParams*)params)->slice[3], ((RP2040DriverParams*)params)->chan[3]);
213-
writeDutyCycle(dc_c, ((RP2040DriverParams*)params)->slice[4], ((RP2040DriverParams*)params)->chan[4]);
214-
writeDutyCycle(swDti(dc_c, ((RP2040DriverParams*)params)->dead_zone), ((RP2040DriverParams*)params)->slice[5], ((RP2040DriverParams*)params)->chan[5]);
209+
if (phase_state[0]==PhaseState::PHASE_ON || phase_state[0]==PhaseState::PHASE_HI)
210+
writeDutyCycle(dc_a, ((RP2040DriverParams*)params)->slice[0], ((RP2040DriverParams*)params)->chan[0]);
211+
else
212+
writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[0], ((RP2040DriverParams*)params)->chan[0]);
213+
if (phase_state[0]==PhaseState::PHASE_ON || phase_state[0]==PhaseState::PHASE_LO)
214+
writeDutyCycle(swDti(dc_a, ((RP2040DriverParams*)params)->dead_zone), ((RP2040DriverParams*)params)->slice[1], ((RP2040DriverParams*)params)->chan[1]);
215+
else
216+
writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[1], ((RP2040DriverParams*)params)->chan[1]);
217+
218+
if (phase_state[1]==PhaseState::PHASE_ON || phase_state[1]==PhaseState::PHASE_HI)
219+
writeDutyCycle(dc_b, ((RP2040DriverParams*)params)->slice[2], ((RP2040DriverParams*)params)->chan[2]);
220+
else
221+
writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[2], ((RP2040DriverParams*)params)->chan[2]);
222+
if (phase_state[1]==PhaseState::PHASE_ON || phase_state[1]==PhaseState::PHASE_LO)
223+
writeDutyCycle(swDti(dc_b, ((RP2040DriverParams*)params)->dead_zone), ((RP2040DriverParams*)params)->slice[3], ((RP2040DriverParams*)params)->chan[3]);
224+
else
225+
writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[3], ((RP2040DriverParams*)params)->chan[3]);
226+
227+
if (phase_state[2]==PhaseState::PHASE_ON || phase_state[2]==PhaseState::PHASE_HI)
228+
writeDutyCycle(dc_c, ((RP2040DriverParams*)params)->slice[4], ((RP2040DriverParams*)params)->chan[4]);
229+
else
230+
writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[4], ((RP2040DriverParams*)params)->chan[4]);
231+
if (phase_state[2]==PhaseState::PHASE_ON || phase_state[2]==PhaseState::PHASE_LO)
232+
writeDutyCycle(swDti(dc_c, ((RP2040DriverParams*)params)->dead_zone), ((RP2040DriverParams*)params)->slice[5], ((RP2040DriverParams*)params)->chan[5]);
233+
else
234+
writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[5], ((RP2040DriverParams*)params)->chan[5]);
215235

216236
_UNUSED(phase_state);
217237
}

‎src/drivers/hardware_specific/stm32_mcu.cpp

Lines changed: 26 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -771,12 +771,32 @@ void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_s
771771
break;
772772
case _SOFTWARE_6PWM:
773773
float dead_zone = ((STM32DriverParams*)params)->dead_zone / 2.0f;
774-
_setPwm(((STM32DriverParams*)params)->timers[0], ((STM32DriverParams*)params)->channels[0], _constrain(dc_a - dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
775-
_setPwm(((STM32DriverParams*)params)->timers[1], ((STM32DriverParams*)params)->channels[1], _constrain(dc_a + dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
776-
_setPwm(((STM32DriverParams*)params)->timers[2], ((STM32DriverParams*)params)->channels[2], _constrain(dc_b - dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
777-
_setPwm(((STM32DriverParams*)params)->timers[3], ((STM32DriverParams*)params)->channels[3], _constrain(dc_b + dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
778-
_setPwm(((STM32DriverParams*)params)->timers[4], ((STM32DriverParams*)params)->channels[4], _constrain(dc_c - dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
779-
_setPwm(((STM32DriverParams*)params)->timers[5], ((STM32DriverParams*)params)->channels[5], _constrain(dc_c + dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
774+
if (phase_state[0] == PhaseState::PHASE_ON || phase_state[0] == PhaseState::PHASE_HI)
775+
_setPwm(((STM32DriverParams*)params)->timers[0], ((STM32DriverParams*)params)->channels[0], _constrain(dc_a - dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
776+
else
777+
_setPwm(((STM32DriverParams*)params)->timers[0], ((STM32DriverParams*)params)->channels[0], 0.0f, _PWM_RESOLUTION);
778+
if (phase_state[0] == PhaseState::PHASE_ON || phase_state[0] == PhaseState::PHASE_LO)
779+
_setPwm(((STM32DriverParams*)params)->timers[1], ((STM32DriverParams*)params)->channels[1], _constrain(dc_a + dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
780+
else
781+
_setPwm(((STM32DriverParams*)params)->timers[1], ((STM32DriverParams*)params)->channels[1], 0.0f, _PWM_RESOLUTION);
782+
783+
if (phase_state[1] == PhaseState::PHASE_ON || phase_state[1] == PhaseState::PHASE_HI)
784+
_setPwm(((STM32DriverParams*)params)->timers[2], ((STM32DriverParams*)params)->channels[2], _constrain(dc_b - dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
785+
else
786+
_setPwm(((STM32DriverParams*)params)->timers[2], ((STM32DriverParams*)params)->channels[2], 0.0f, _PWM_RESOLUTION);
787+
if (phase_state[1] == PhaseState::PHASE_ON || phase_state[1] == PhaseState::PHASE_LO)
788+
_setPwm(((STM32DriverParams*)params)->timers[3], ((STM32DriverParams*)params)->channels[3], _constrain(dc_b + dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
789+
else
790+
_setPwm(((STM32DriverParams*)params)->timers[3], ((STM32DriverParams*)params)->channels[3], 0.0f, _PWM_RESOLUTION);
791+
792+
if (phase_state[2] == PhaseState::PHASE_ON || phase_state[2] == PhaseState::PHASE_HI)
793+
_setPwm(((STM32DriverParams*)params)->timers[4], ((STM32DriverParams*)params)->channels[4], _constrain(dc_c - dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
794+
else
795+
_setPwm(((STM32DriverParams*)params)->timers[4], ((STM32DriverParams*)params)->channels[4], 0.0f, _PWM_RESOLUTION);
796+
if (phase_state[2] == PhaseState::PHASE_ON || phase_state[2] == PhaseState::PHASE_LO)
797+
_setPwm(((STM32DriverParams*)params)->timers[5], ((STM32DriverParams*)params)->channels[5], _constrain(dc_c + dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION);
798+
else
799+
_setPwm(((STM32DriverParams*)params)->timers[5], ((STM32DriverParams*)params)->channels[5], 0.0f, _PWM_RESOLUTION);
780800
break;
781801
}
782802
_UNUSED(phase_state);

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