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fix errors in TMS pwm #301

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merged 1 commit into from
Nov 8, 2024
Merged

fix errors in TMS pwm #301

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15 changes: 9 additions & 6 deletions firmware/mcal/stm32f767/periph/pwm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@

#pragma once

#include <algorithm>
#include <cstdint>

#include "shared/periph/pwm.h"
Expand Down Expand Up @@ -47,27 +48,29 @@ class PWMOutput : public shared::periph::PWMOutput {
}

void SetFrequency(float frequency) override {
frequency_ = std::max(kMinimumFrequency, frequency);
uint32_t autoreload = GetTimerFrequency() / frequency_;
float frequency_ = std::max(kMinimumFrequency, frequency);
uint32_t autoreload = static_cast<uint32_t>(
static_cast<float>(GetTimerFrequency()) / frequency_);

__HAL_TIM_SetAutoreload(htim, autoreload);
__HAL_TIM_SetAutoreload(htim_, autoreload);
}

float GetFrequency() override {
float frequency = GetTimerFrequency() / __HAL_TIM_GetAutoreload(htim_);
float frequency = static_cast<float>(GetTimerFrequency()) /
static_cast<float>(__HAL_TIM_GetAutoreload(htim_));

return frequency;
}

private:
TIM_HandleTypeDef* htim_;
// stm32f767 has a 16-bit autoreload register -> min frequency = 1/65535
static constexpr kMinimumFrequency = 0.000015259022f;
static constexpr float kMinimumFrequency = 0.000015259022f;
uint32_t channel_;
float duty_cycle_ = 0;

uint32_t GetTimerFrequency() {
uint32_t tickFreq = __HAL_TIM_GetTickFreq();
uint32_t tickFreq = HAL_GetTickFreq();

return tickFreq;
}
Expand Down
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