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License: GNU General Public License v3.0
bldc/software/Control/pwm_output.c
Line 86 in b7856c2
should be
timerPeriod = (uint16_t)(((uint32_t)SystemCoreClock / PWM_FREQ_HZ) - 1);
This is to account for the fact that we are no longer doing center aligned mode.
bldc/software/Control/pwm_output.c
Line 103 in b7856c2
should be
TIM_OCStruct.TIM_OCMode = TIM_OCMode_PWM1;
bldc/software/Control/pwm_output.c
Line 94 in b7856c2
should be
TIM_BaseStruct.TIM_CounterMode = TIM_CounterMode_Up;
bldc/software/Control/motor_control.c
Lines 37 to 44 in d132e3d
The above code incorrectly drives the quadrature angle 60 degrees ahead of the direct angle when PHASE_PREDICTION is enabled. To fix this issue the below changes are recommended:
#ifdef PHASE_PREDICTION
uint16_t currentTimerCount = motorSpeedTimerOverrun ? TIM13_PERIOD : TIM13->CNT;
uint16_t predictedPhaseAngle = (((uint32_t)currentTimerCount * 100 * 60) / motorSpeedCount) / 100;
#else
// half of the hall effect resolution, so that active torque region is centered around max torque point
uint16_t predictedPhaseAngle = 30;
#endif
int16_t quadratureAxisAngle = checkAngleOverflow(directAxisAngle + 90 + predictedPhaseAngle);
bldc/software/Control/pwm_output.c
Line 124 in b7856c2
should be
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
bldc/software/Control/pwm_output.c
Lines 107 to 111 in 72862fa
Let's give the below configuration a try and see if it gets us what we want.
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
/* Set Idle state to Reset for all FETs, so break can be used for neutral */
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
bldc/software/Control/pwm_output.c
Lines 107 to 108 in b7856c2
should be
TIM_OCStruct.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCStruct.TIM_OCNPolarity = TIM_OCNPolarity_High;
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