Revert "Merge pull request odriverobotics#264 from Wetmelon/feature/24k"

This reverts commit cb6250c, reversing changes made to 89f0099.
lalten · Feb 24, 2019 · f2ea04d · f2ea04d
1 parent 9786af0
commit f2ea04d
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Showing 5 changed files with 12 additions and 19 deletions.
diff --git a/Firmware/Board/v3/Inc/main.h b/Firmware/Board/v3/Inc/main.h
@@ -67,12 +67,11 @@
 
 /* Private define ------------------------------------------------------------*/
 #define TIM_1_8_CLOCK_HZ 168000000
-#define TIM_1_8_PERIOD_CLOCKS 3500
+#define TIM_1_8_PERIOD_CLOCKS 10192
 #define TIM_1_8_DEADTIME_CLOCKS 20
 #define TIM_APB1_CLOCK_HZ 84000000
 #define TIM_APB1_PERIOD_CLOCKS 4096
 #define TIM_APB1_DEADTIME_CLOCKS 40
-#define TIM_1_8_RCR 2
 
 #define M0_nCS_Pin GPIO_PIN_13
 #define M0_nCS_GPIO_Port GPIOC
@@ -168,8 +167,8 @@
 //TODO: make this come automatically out of CubeMX somehow
 #define TIM_TIME_BASE TIM14
 
-#define CURRENT_MEAS_PERIOD ( (float)2*TIM_1_8_PERIOD_CLOCKS*(TIM_1_8_RCR+1) / (float)TIM_1_8_CLOCK_HZ )
-#define CURRENT_MEAS_HZ ( (float)(TIM_1_8_CLOCK_HZ) / (float)(2*TIM_1_8_PERIOD_CLOCKS*(TIM_1_8_RCR+1)) )
+#define CURRENT_MEAS_PERIOD ((float)(2*TIM_1_8_PERIOD_CLOCKS)/(float)TIM_1_8_CLOCK_HZ)
+#define CURRENT_MEAS_HZ (TIM_1_8_CLOCK_HZ/(2*TIM_1_8_PERIOD_CLOCKS))
 
 #if HW_VERSION_VOLTAGE == 48
 #define VBUS_S_DIVIDER_RATIO 19.0f

diff --git a/Firmware/Board/v3/Inc/prev_board_ver/main_V3_2.h b/Firmware/Board/v3/Inc/prev_board_ver/main_V3_2.h
@@ -1,12 +1,11 @@
 
 /* Private define ------------------------------------------------------------*/
 #define TIM_1_8_CLOCK_HZ 168000000
-#define TIM_1_8_PERIOD_CLOCKS 3500
+#define TIM_1_8_PERIOD_CLOCKS 10192
 #define TIM_1_8_DEADTIME_CLOCKS 20
 #define TIM_APB1_CLOCK_HZ 84000000
 #define TIM_APB1_PERIOD_CLOCKS 4096
 #define TIM_APB1_DEADTIME_CLOCKS 40
-#define TIM_1_8_RCR 2
 
 #define M0_nCS_Pin GPIO_PIN_13
 #define M0_nCS_GPIO_Port GPIOC

diff --git a/Firmware/Board/v3/Inc/prev_board_ver/main_V3_4.h b/Firmware/Board/v3/Inc/prev_board_ver/main_V3_4.h
@@ -1,12 +1,11 @@
 
 /* Private define ------------------------------------------------------------*/
 #define TIM_1_8_CLOCK_HZ 168000000
-#define TIM_1_8_PERIOD_CLOCKS 3500
+#define TIM_1_8_PERIOD_CLOCKS 10192
 #define TIM_1_8_DEADTIME_CLOCKS 20
 #define TIM_APB1_CLOCK_HZ 84000000
 #define TIM_APB1_PERIOD_CLOCKS 4096
 #define TIM_APB1_DEADTIME_CLOCKS 40
-#define TIM_1_8_RCR 2
 
 #define M0_nCS_Pin GPIO_PIN_13
 #define M0_nCS_GPIO_Port GPIOC

diff --git a/Firmware/Board/v3/Odrive.ioc b/Firmware/Board/v3/Odrive.ioc
@@ -78,7 +78,7 @@ ADC3.ScanConvMode=DISABLE
 CAN1.AutoWakeUp=ENABLE
 CAN1.BS1=CAN_BS1_6TQ
 CAN1.BS2=CAN_BS2_5TQ
-CAN1.CalculateTimeBit=500
+CAN1.CalculateTimeBit=2000
 CAN1.CalculateTimeQuantum=166.66666666666669
 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,Prescaler,TimeSeg1,TimeSeg2,AutoWakeUp,BS1,BS2
 CAN1.Prescaler=7
@@ -233,7 +233,7 @@ Mcu.Pin8=PC3
 Mcu.Pin9=PA0-WKUP
 Mcu.PinsNb=57
 Mcu.ThirdPartyNb=0
-Mcu.UserConstants=TIM_1_8_CLOCK_HZ,168000000;TIM_1_8_PERIOD_CLOCKS,3500;TIM_1_8_DEADTIME_CLOCKS,20;TIM_APB1_CLOCK_HZ,84000000;TIM_APB1_PERIOD_CLOCKS,4096;TIM_APB1_DEADTIME_CLOCKS,40;TIM_1_8_RCR,2
+Mcu.UserConstants=TIM_1_8_CLOCK_HZ,168000000;TIM_1_8_PERIOD_CLOCKS,10192;TIM_1_8_DEADTIME_CLOCKS,20;TIM_APB1_CLOCK_HZ,84000000;TIM_APB1_PERIOD_CLOCKS,4096;TIM_APB1_DEADTIME_CLOCKS,40
 Mcu.UserName=STM32F405RGTx
 MxCube.Version=4.27.0
 MxDb.Version=DB.4.0.270
@@ -479,8 +479,6 @@ ProjectManager.HeapSize=0x3C00
 ProjectManager.KeepUserCode=true
 ProjectManager.LastFirmware=true
 ProjectManager.LibraryCopy=1
-ProjectManager.MainLocation=Src
-ProjectManager.NoMain=false
 ProjectManager.PreviousToolchain=SW4STM32
 ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=Odrive.ioc
@@ -607,7 +605,7 @@ TIM1.Channel-PWM\ Generation2\ CH2\ CH2N=TIM_CHANNEL_2
 TIM1.Channel-PWM\ Generation3\ CH3\ CH3N=TIM_CHANNEL_3
 TIM1.CounterMode=TIM_COUNTERMODE_CENTERALIGNED3
 TIM1.DeadTime=TIM_1_8_DEADTIME_CLOCKS
-TIM1.IPParameters=Channel-PWM Generation2 CH2 CH2N,Channel-PWM Generation3 CH3 CH3N,OCNPolarity_1,OCNPolarity_2,OCNPolarity_3,CounterMode,OCMode_PWM-PWM Generation1 CH1 CH1N,OCMode_PWM-PWM Generation2 CH2 CH2N,OCMode_PWM-PWM Generation3 CH3 CH3N,Period,DeadTime,OffStateRunMode,OffStateIDLEMode,Channel-Output Compare4 No Output,TIM_MasterOutputTrigger,Channel-PWM Generation1 CH1 CH1N,RepetitionCounter
+TIM1.IPParameters=Channel-PWM Generation2 CH2 CH2N,Channel-PWM Generation3 CH3 CH3N,OCNPolarity_1,OCNPolarity_2,OCNPolarity_3,CounterMode,OCMode_PWM-PWM Generation1 CH1 CH1N,OCMode_PWM-PWM Generation2 CH2 CH2N,OCMode_PWM-PWM Generation3 CH3 CH3N,Period,DeadTime,OffStateRunMode,OffStateIDLEMode,Channel-Output Compare4 No Output,TIM_MasterOutputTrigger,Channel-PWM Generation1 CH1 CH1N
 TIM1.OCMode_PWM-PWM\ Generation1\ CH1\ CH1N=TIM_OCMODE_PWM2
 TIM1.OCMode_PWM-PWM\ Generation2\ CH2\ CH2N=TIM_OCMODE_PWM2
 TIM1.OCMode_PWM-PWM\ Generation3\ CH3\ CH3N=TIM_OCMODE_PWM2
@@ -617,7 +615,6 @@ TIM1.OCNPolarity_3=TIM_OCNPOLARITY_HIGH
 TIM1.OffStateIDLEMode=TIM_OSSI_ENABLE
 TIM1.OffStateRunMode=TIM_OSSR_ENABLE
 TIM1.Period=TIM_1_8_PERIOD_CLOCKS
-TIM1.RepetitionCounter=TIM_1_8_RCR
 TIM1.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
 TIM13.IPParameters=Period
 TIM13.Period=(2 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR+1)) * (TIM_APB1_CLOCK_HZ / TIM_1_8_CLOCK_HZ)
@@ -658,14 +655,13 @@ TIM8.Channel-PWM\ Generation2\ CH2\ CH2N=TIM_CHANNEL_2
 TIM8.Channel-PWM\ Generation3\ CH3\ CH3N=TIM_CHANNEL_3
 TIM8.CounterMode=TIM_COUNTERMODE_CENTERALIGNED3
 TIM8.DeadTime=TIM_1_8_DEADTIME_CLOCKS
-TIM8.IPParameters=Channel-PWM Generation3 CH3 CH3N,Channel-PWM Generation2 CH2 CH2N,CounterMode,Period,OffStateRunMode,OffStateIDLEMode,DeadTime,OCMode_PWM-PWM Generation1 CH1 CH1N,OCMode_PWM-PWM Generation2 CH2 CH2N,OCMode_PWM-PWM Generation3 CH3 CH3N,Channel-Output Compare4 No Output,TIM_MasterOutputTrigger,Channel-PWM Generation1 CH1 CH1N,RepetitionCounter
+TIM8.IPParameters=Channel-PWM Generation3 CH3 CH3N,Channel-PWM Generation2 CH2 CH2N,CounterMode,Period,OffStateRunMode,OffStateIDLEMode,DeadTime,OCMode_PWM-PWM Generation1 CH1 CH1N,OCMode_PWM-PWM Generation2 CH2 CH2N,OCMode_PWM-PWM Generation3 CH3 CH3N,Channel-Output Compare4 No Output,TIM_MasterOutputTrigger,Channel-PWM Generation1 CH1 CH1N
 TIM8.OCMode_PWM-PWM\ Generation1\ CH1\ CH1N=TIM_OCMODE_PWM2
 TIM8.OCMode_PWM-PWM\ Generation2\ CH2\ CH2N=TIM_OCMODE_PWM2
 TIM8.OCMode_PWM-PWM\ Generation3\ CH3\ CH3N=TIM_OCMODE_PWM2
 TIM8.OffStateIDLEMode=TIM_OSSI_ENABLE
 TIM8.OffStateRunMode=TIM_OSSR_ENABLE
 TIM8.Period=TIM_1_8_PERIOD_CLOCKS
-TIM8.RepetitionCounter=TIM_1_8_RCR
 TIM8.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
 UART4.IPParameters=VirtualMode
 UART4.VirtualMode=Asynchronous

diff --git a/Firmware/Board/v3/Src/tim.c b/Firmware/Board/v3/Src/tim.c
@@ -95,7 +95,7 @@ void MX_TIM1_Init(void)
   htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
   htim1.Init.Period = TIM_1_8_PERIOD_CLOCKS;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim1.Init.RepetitionCounter = TIM_1_8_RCR;
+  htim1.Init.RepetitionCounter = 0;
   if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
   {
     _Error_Handler(__FILE__, __LINE__);
@@ -325,7 +325,7 @@ void MX_TIM8_Init(void)
   htim8.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
   htim8.Init.Period = TIM_1_8_PERIOD_CLOCKS;
   htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim8.Init.RepetitionCounter = TIM_1_8_RCR;
+  htim8.Init.RepetitionCounter = 0;
   if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
   {
     _Error_Handler(__FILE__, __LINE__);
@@ -382,7 +382,7 @@ void MX_TIM13_Init(void)
   htim13.Instance = TIM13;
   htim13.Init.Prescaler = 0;
   htim13.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim13.Init.Period = (2 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR+1)) * ((float)TIM_APB1_CLOCK_HZ / (float)TIM_1_8_CLOCK_HZ) - 1;
+  htim13.Init.Period = (2 * TIM_1_8_PERIOD_CLOCKS) * ((float)TIM_APB1_CLOCK_HZ / (float)TIM_1_8_CLOCK_HZ) - 1;
   htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   if (HAL_TIM_Base_Init(&htim13) != HAL_OK)
   {