/* The PWM Counter Reset will put the PWM system in "ACTIVE" state, which
* is defined as the state when the channel is active and a compare event
* has not yet taken place.
*/
static void cdPwmCounterReset(PWMDriver *pwmp) {
(void) pwmp;
chSysLockFromIsr();
palWriteGroup (PWM_OUT_PORT, PWM_OUT_PORT_MASK, PWM_OUT_OFFSET, bldc.pwmOutT0);
// Calculate and initiate the state change
// Consider moving this to a thread to further slim down the ISR callback
if (!halIsCounterWithin(bldc.prevStateChange, bldc.nextStateChange)) {
// Prepare next state
if (bldc.directionFwd) {
bldc.nextState++;
}
else {
bldc.nextState--;
}
// Wrap the state counter
bldc.nextState = (bldc.nextState+bldc.stateCount)%bldc.stateCount;
// Prepare the next state change.
bldc.prevStateChange = bldc.nextStateChange;
bldc.nextStateChange += bldc.stateChangeInterval;
}
chSysUnlockFromIsr();
}
/**
* @brief Polled delay.
* @note The real delays is always few cycles in excess of the specified
* value.
* @note This is an optional service that could not be implemented in
* all HAL implementations.
* @note This function can be called from any context.
*
* @param[in] ticks number of ticks
*
* @special
*/
void halPolledDelay(halrtcnt_t ticks) {
halrtcnt_t start = halGetCounterValue();
halrtcnt_t timeout = start + (ticks);
while (halIsCounterWithin(start, timeout))
;
}
