Bitbang PWM driver - Githubissues

Ltu-Bike-trailer / control-software

Provides embedded software for controlling the cart.

MIT License

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Closed ivajon closed 2 weeks ago

ivajon commented 1 month ago

We need to drive the motor controller with PWM. These PWM signals need to be phase-shifted 120 degrees from each other at all times.

This should be done in software using timer-based control

ivajon commented 1 month ago

General outline

PwmTask
- Runs at a rate defined by an input PWM signal
- Sets pins in accordance with https://se.mathworks.com/help/mcb/ref/sixstepcommutation.html
HalInterruptTask
- Sets the bits of the state in accordance with https://se.mathworks.com/help/mcb/ref/sixstepcommutation.html
Velocity update task
- Runs periodically (Lowest priority) and gets the latest pwm duty cycle on that channel.

ivajon commented 2 weeks ago

This is deprecated since we do not need to bitbang pwm.