seperated into transformer / experimental

2025-12-16 17:16:26 +07:00
parent 5e21ee1571
commit e9775f2ce7
210 changed files with 51374 additions and 47711 deletions
--- a/code/Core/Src/main.c
+++ b/code/Core/Src/main.c
@@ -31,6 +31,8 @@

 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
+#define EXPERIMENTAL 1
+#define POLARITY 0

 /* USER CODE END PD */

@@ -58,67 +60,72 @@ FMAC_HandleTypeDef hfmac;
 HRTIM_HandleTypeDef hhrtim1;

 TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim3;

 UART_HandleTypeDef huart1;

 /* USER CODE BEGIN PV */

+volatile uint32_t current,voltage;
+volatile uint32_t t_current,t_voltage;
+
 uint16_t time = 0;

 #include <stdint.h>
 const uint16_t pwm_sine[500] = {
-    0, 0, 0, 0, 0, 0, 1027, 1198, 1369, 1540,
-    1711, 1882, 2053, 2224, 2394, 2565, 2735, 2906, 3076, 3246,
-    3416, 3586, 3755, 3925, 4094, 4263, 4433, 4601, 4770, 4939,
-    5107, 5275, 5443, 5611, 5778, 5945, 6112, 6279, 6445, 6612,
-    6778, 6943, 7109, 7274, 7439, 7603, 7768, 7932, 8095, 8259,
-    8422, 8584, 8747, 8909, 9070, 9231, 9392, 9553, 9713, 9873,
-    10032, 10191, 10350, 10508, 10666, 10823, 10980, 11136, 11292, 11448,
-    11603, 11758, 11912, 12065, 12219, 12371, 12524, 12675, 12827, 12977,
-    13128, 13277, 13427, 13575, 13723, 13871, 14018, 14164, 14310, 14456,
-    14601, 14745, 14888, 15031, 15174, 15316, 15457, 15597, 15737, 15877,
-    16015, 16154, 16291, 16428, 16564, 16699, 16834, 16968, 17102, 17235,
-    17367, 17498, 17629, 17759, 17889, 18017, 18145, 18272, 18399, 18525,
-    18650, 18774, 18897, 19020, 19142, 19264, 19384, 19504, 19623, 19741,
-    19858, 19975, 20091, 20206, 20320, 20434, 20546, 20658, 20769, 20879,
-    20988, 21097, 21205, 21311, 21417, 21523, 21627, 21730, 21833, 21935,
-    22035, 22135, 22234, 22333, 22430, 22526, 22622, 22717, 22810, 22903,
-    22995, 23086, 23176, 23265, 23354, 23441, 23527, 23613, 23697, 23781,
-    23864, 23945, 24026, 24106, 24185, 24263, 24339, 24415, 24490, 24564,
-    24637, 24710, 24781, 24851, 24920, 24988, 25055, 25121, 25186, 25251,
-    25314, 25376, 25437, 25497, 25556, 25615, 25672, 25728, 25783, 25837,
-    25890, 25942, 25993, 26043, 26092, 26139, 26186, 26232, 26277, 26321,
-    26363, 26405, 26445, 26485, 26523, 26561, 26597, 26633, 26667, 26700,
-    26732, 26763, 26793, 26822, 26850, 26877, 26903, 26928, 26951, 26974,
-    26995, 27016, 27035, 27053, 27071, 27087, 27102, 27116, 27129, 27141,
-    27151, 27161, 27170, 27177, 27184, 27189, 27193, 27197, 27199, 27200,
-    27200, 27199, 27197, 27193, 27189, 27184, 27177, 27170, 27161, 27151,
-    27141, 27129, 27116, 27102, 27087, 27071, 27053, 27035, 27016, 26995,
-    26974, 26951, 26928, 26903, 26877, 26850, 26822, 26793, 26763, 26732,
-    26700, 26667, 26633, 26597, 26561, 26523, 26485, 26445, 26405, 26363,
-    26321, 26277, 26232, 26186, 26139, 26092, 26043, 25993, 25942, 25890,
-    25837, 25783, 25728, 25672, 25615, 25556, 25497, 25437, 25376, 25314,
-    25251, 25186, 25121, 25055, 24988, 24920, 24851, 24781, 24710, 24637,
-    24564, 24490, 24415, 24339, 24263, 24185, 24106, 24026, 23945, 23864,
-    23781, 23697, 23613, 23527, 23441, 23354, 23265, 23176, 23086, 22995,
-    22903, 22810, 22717, 22622, 22526, 22430, 22333, 22234, 22135, 22035,
-    21935, 21833, 21730, 21627, 21523, 21417, 21311, 21205, 21097, 20988,
-    20879, 20769, 20658, 20546, 20434, 20320, 20206, 20091, 19975, 19858,
-    19741, 19623, 19504, 19384, 19264, 19142, 19020, 18897, 18774, 18650,
-    18525, 18399, 18272, 18145, 18017, 17889, 17759, 17629, 17498, 17367,
-    17235, 17102, 16968, 16834, 16699, 16564, 16428, 16291, 16154, 16015,
-    15877, 15737, 15597, 15457, 15316, 15174, 15031, 14888, 14745, 14601,
-    14456, 14310, 14164, 14018, 13871, 13723, 13575, 13427, 13277, 13128,
-    12977, 12827, 12675, 12524, 12371, 12219, 12065, 11912, 11758, 11603,
-    11448, 11292, 11136, 10980, 10823, 10666, 10508, 10350, 10191, 10032,
-    9873, 9713, 9553, 9392, 9231, 9070, 8909, 8747, 8584, 8422,
-    8259, 8095, 7932, 7768, 7603, 7439, 7274, 7109, 6943, 6778,
-    6612, 6445, 6279, 6112, 5945, 5778, 5611, 5443, 5275, 5107,
-    4939, 4770, 4601, 4433, 4263, 4094, 3925, 3755, 3586, 3416,
-    3246, 3076, 2906, 2735, 2565, 2394, 2224, 2053, 1882, 1711,
-    1540, 1369, 1198, 1027, 0, 0, 0, 0, 0, 0
+    0, 0, 0, 0, 1260, 1575, 1890, 2205, 2520, 2834,
+    3149, 3463, 3777, 4092, 4406, 4719, 5033, 5346, 5660, 5972,
+    6285, 6598, 6910, 7222, 7533, 7845, 8156, 8467, 8777, 9087,
+    9397, 9706, 10015, 10323, 10631, 10939, 11246, 11553, 11860, 12165,
+    12471, 12776, 13080, 13384, 13687, 13990, 14292, 14594, 14895, 15196,
+    15496, 15795, 16094, 16392, 16689, 16986, 17282, 17577, 17872, 18166,
+    18459, 18752, 19043, 19334, 19625, 19914, 20203, 20491, 20778, 21064,
+    21349, 21634, 21918, 22200, 22482, 22763, 23044, 23323, 23601, 23879,
+    24155, 24430, 24705, 24979, 25251, 25523, 25793, 26063, 26331, 26599,
+    26865, 27130, 27394, 27658, 27920, 28181, 28440, 28699, 28957, 29213,
+    29468, 29723, 29975, 30227, 30478, 30727, 30975, 31222, 31468, 31712,
+    31955, 32197, 32438, 32677, 32915, 33152, 33387, 33621, 33854, 34085,
+    34315, 34544, 34771, 34997, 35222, 35445, 35667, 35887, 36106, 36323,
+    36539, 36754, 36967, 37179, 37389, 37598, 37805, 38011, 38215, 38418,
+    38619, 38818, 39017, 39213, 39408, 39602, 39793, 39984, 40173, 40360,
+    40545, 40729, 40911, 41092, 41271, 41449, 41624, 41798, 41971, 42142,
+    42311, 42478, 42644, 42808, 42971, 43131, 43290, 43447, 43603, 43757,
+    43909, 44059, 44208, 44355, 44500, 44643, 44785, 44924, 45062, 45199,
+    45333, 45466, 45596, 45725, 45853, 45978, 46102, 46223, 46343, 46461,
+    46577, 46692, 46804, 46915, 47024, 47131, 47236, 47339, 47440, 47540,
+    47637, 47733, 47827, 47919, 48009, 48097, 48183, 48267, 48349, 48430,
+    48508, 48585, 48660, 48732, 48803, 48872, 48939, 49004, 49067, 49128,
+    49187, 49245, 49300, 49353, 49404, 49454, 49501, 49547, 49590, 49632,
+    49671, 49709, 49745, 49778, 49810, 49840, 49867, 49893, 49917, 49939,
+    49959, 49976, 49992, 50006, 50018, 50028, 50036, 50042, 50046, 50048,
+    50048, 50046, 50042, 50036, 50028, 50018, 50006, 49992, 49976, 49959,
+    49939, 49917, 49893, 49867, 49840, 49810, 49778, 49745, 49709, 49671,
+    49632, 49590, 49547, 49501, 49454, 49404, 49353, 49300, 49245, 49187,
+    49128, 49067, 49004, 48939, 48872, 48803, 48732, 48660, 48585, 48508,
+    48430, 48349, 48267, 48183, 48097, 48009, 47919, 47827, 47733, 47637,
+    47540, 47440, 47339, 47236, 47131, 47024, 46915, 46804, 46692, 46577,
+    46461, 46343, 46223, 46102, 45978, 45853, 45725, 45596, 45466, 45333,
+    45199, 45062, 44924, 44785, 44643, 44500, 44355, 44208, 44059, 43909,
+    43757, 43603, 43447, 43290, 43131, 42971, 42808, 42644, 42478, 42311,
+    42142, 41971, 41798, 41624, 41449, 41271, 41092, 40911, 40729, 40545,
+    40360, 40173, 39984, 39793, 39602, 39408, 39213, 39017, 38818, 38619,
+    38418, 38215, 38011, 37805, 37598, 37389, 37179, 36967, 36754, 36539,
+    36323, 36106, 35887, 35667, 35445, 35222, 34997, 34771, 34544, 34315,
+    34085, 33854, 33621, 33387, 33152, 32915, 32677, 32438, 32197, 31955,
+    31712, 31468, 31222, 30975, 30727, 30478, 30227, 29975, 29723, 29468,
+    29213, 28957, 28699, 28440, 28181, 27920, 27658, 27394, 27130, 26865,
+    26599, 26331, 26063, 25793, 25523, 25251, 24979, 24705, 24430, 24155,
+    23879, 23601, 23323, 23044, 22763, 22482, 22200, 21918, 21634, 21349,
+    21064, 20778, 20491, 20203, 19914, 19625, 19334, 19043, 18752, 18459,
+    18166, 17872, 17577, 17282, 16986, 16689, 16392, 16094, 15795, 15496,
+    15196, 14895, 14594, 14292, 13990, 13687, 13384, 13080, 12776, 12471,
+    12165, 11860, 11553, 11246, 10939, 10631, 10323, 10015, 9706, 9397,
+    9087, 8777, 8467, 8156, 7845, 7533, 7222, 6910, 6598, 6285,
+    5972, 5660, 5346, 5033, 4719, 4406, 4092, 3777, 3463, 3149,
+    2834, 2520, 2205, 1890, 1575, 1260, 0, 0, 0, 0
 };

+
 /* USER CODE END PV */

 /* Private function prototypes -----------------------------------------------*/
@@ -136,6 +143,7 @@ static void MX_DAC1_Init(void);
 static void MX_DAC4_Init(void);
 static void MX_HRTIM1_Init(void);
 static void MX_USART1_UART_Init(void);
+static void MX_TIM3_Init(void);
 /* USER CODE BEGIN PFP */

 /* USER CODE END PFP */
@@ -186,15 +194,21 @@ int main(void)
  MX_DAC4_Init();
  MX_HRTIM1_Init();
  MX_USART1_UART_Init();
+  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */

  HAL_ADCEx_Calibration_Start(&hadc3, ADC_SINGLE_ENDED);
  HAL_ADCEx_Calibration_Start(&hadc4, ADC_SINGLE_ENDED);
+  HAL_ADC_Start_DMA(&hadc3,&current,1);
+  HAL_ADC_Start_DMA(&hadc4,&voltage,1);

 //  HAL_DAC_SetValue(&hdac1, DAC_CHANNEL_2, DAC_ALIGN_12B_R, );//voltage
-  HAL_DAC_SetValue(&hdac4, DAC_CHANNEL_1, DAC_ALIGN_12B_R, 3500);//current
+//  HAL_DAC_SetValue(&hdac4, DAC_CHANNEL_1, DAC_ALIGN_12B_R, 3500);//current
 //  HAL_DAC_Start(&hdac1, DAC_CHANNEL_2);
  HAL_DAC_Start(&hdac4, DAC_CHANNEL_1); //current
+  HAL_DAC_SetValue(&hdac4, DAC_CHANNEL_1, DAC_ALIGN_12B_R, 3500);//current
+  HAL_Delay(500);
+  HAL_COMP_Start(&hcomp7);//current



@@ -203,11 +217,24 @@ int main(void)
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */

-
  HAL_HRTIM_WaveformCountStart(&hhrtim1,HRTIM_TIMERID_MASTER|HRTIM_TIMERID_TIMER_A|HRTIM_TIMERID_TIMER_B);
-  HAL_TIM_Base_Start_IT(&htim1);
+  HAL_HRTIM_WaveformOutputStart(&hhrtim1,HRTIM_OUTPUT_TA1|HRTIM_OUTPUT_TA2|HRTIM_OUTPUT_TB2|HRTIM_OUTPUT_TB1);
+  HAL_GPIO_WritePin(ENABLE_DRVA1_GPIO_Port,ENABLE_DRVA1_Pin,GPIO_PIN_SET);//LG1
+  HAL_GPIO_WritePin(ENABLE_DRVA2_GPIO_Port,ENABLE_DRVA2_Pin,GPIO_PIN_SET);//LG2
+  HAL_GPIO_WritePin(ENABLE_DRVB1_GPIO_Port,ENABLE_DRVB1_Pin,GPIO_PIN_SET);//HG1
+  HAL_GPIO_WritePin(ENABLE_DRVB2_GPIO_Port,ENABLE_DRVB2_Pin,GPIO_PIN_SET);//HG2
  char dtext[20] = "Startup \n\r";
-  HAL_UART_Transmit(&huart1,(uint8_t *)(dtext),strlen(dtext),10);
+  HAL_UART_Transmit(&huart1,(uint8_t *)(dtext),12,10);
+#ifndef EXPERIMENTAL
+  HAL_TIM_Base_Start_IT(&htim1);
+#endif
+#ifdef EXPERIMENTAL
+  HAL_TIM_OC_Start_IT (&htim3, TIM_CHANNEL_3);
+  __HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
+#endif
+
+
+
  while (1)
  {
    /* USER CODE END WHILE */
@@ -284,7 +311,7 @@ static void MX_ADC3_Init(void)
  /** Common config
  */
  hadc3.Instance = ADC3;
-  hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
+  hadc3.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV32;
  hadc3.Init.Resolution = ADC_RESOLUTION_12B;
  hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc3.Init.GainCompensation = 0;
@@ -316,7 +343,7 @@ static void MX_ADC3_Init(void)
  */
  sConfig.Channel = ADC_CHANNEL_5;
  sConfig.Rank = ADC_REGULAR_RANK_1;
-  sConfig.SamplingTime = ADC_SAMPLETIME_247CYCLES_5;
+  sConfig.SamplingTime = ADC_SAMPLETIME_640CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
@@ -351,7 +378,7 @@ static void MX_ADC4_Init(void)
  /** Common config
  */
  hadc4.Instance = ADC4;
-  hadc4.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
+  hadc4.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV32;
  hadc4.Init.Resolution = ADC_RESOLUTION_12B;
  hadc4.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc4.Init.GainCompensation = 0;
@@ -375,7 +402,7 @@ static void MX_ADC4_Init(void)
  */
  sConfig.Channel = ADC_CHANNEL_4;
  sConfig.Rank = ADC_REGULAR_RANK_1;
-  sConfig.SamplingTime = ADC_SAMPLETIME_247CYCLES_5;
+  sConfig.SamplingTime = ADC_SAMPLETIME_640CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
@@ -409,7 +436,7 @@ static void MX_COMP5_Init(void)
  hcomp5.Init.InputMinus = COMP_INPUT_MINUS_DAC1_CH2;
  hcomp5.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp5.Init.Hysteresis = COMP_HYSTERESIS_NONE;
-  hcomp5.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
+  hcomp5.Init.BlankingSrce = COMP_BLANKINGSRC_TIM3_OC3_COMP5;
  hcomp5.Init.TriggerMode = COMP_TRIGGERMODE_IT_RISING;
  if (HAL_COMP_Init(&hcomp5) != HAL_OK)
  {
@@ -440,8 +467,8 @@ static void MX_COMP7_Init(void)
  hcomp7.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp7.Init.InputMinus = COMP_INPUT_MINUS_DAC4_CH1;
  hcomp7.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
-  hcomp7.Init.Hysteresis = COMP_HYSTERESIS_NONE;
-  hcomp7.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
+  hcomp7.Init.Hysteresis = COMP_HYSTERESIS_HIGH;
+  hcomp7.Init.BlankingSrce = COMP_BLANKINGSRC_TIM3_OC3_COMP7;
  hcomp7.Init.TriggerMode = COMP_TRIGGERMODE_IT_RISING;
  if (HAL_COMP_Init(&hcomp7) != HAL_OK)
  {
@@ -616,6 +643,7 @@ static void MX_HRTIM1_Init(void)
  HRTIM_TimerCfgTypeDef pTimerCfg = {0};
  HRTIM_TimerCtlTypeDef pTimerCtl = {0};
  HRTIM_CompareCfgTypeDef pCompareCfg = {0};
+  HRTIM_DeadTimeCfgTypeDef pDeadTimeCfg = {0};
  HRTIM_OutputCfgTypeDef pOutputCfg = {0};

  /* USER CODE BEGIN HRTIM1_Init 1 */
@@ -693,7 +721,7 @@ static void MX_HRTIM1_Init(void)
  pTimerCfg.PushPull = HRTIM_TIMPUSHPULLMODE_DISABLED;
  pTimerCfg.FaultEnable = HRTIM_TIMFAULTENABLE_NONE;
  pTimerCfg.FaultLock = HRTIM_TIMFAULTLOCK_READWRITE;
-  pTimerCfg.DeadTimeInsertion = HRTIM_TIMDEADTIMEINSERTION_DISABLED;
+  pTimerCfg.DeadTimeInsertion = HRTIM_TIMDEADTIMEINSERTION_ENABLED;
  pTimerCfg.DelayedProtectionMode = HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DISABLED;
  pTimerCfg.UpdateTrigger = HRTIM_TIMUPDATETRIGGER_NONE;
  pTimerCfg.ResetTrigger = HRTIM_TIMRESETTRIGGER_NONE;
@@ -711,7 +739,24 @@ static void MX_HRTIM1_Init(void)
  {
    Error_Handler();
  }
-  pOutputCfg.Polarity = HRTIM_OUTPUTPOLARITY_LOW;
+  pDeadTimeCfg.Prescaler = HRTIM_TIMDEADTIME_PRESCALERRATIO_MUL8;
+  pDeadTimeCfg.RisingValue = 0x00A;
+  pDeadTimeCfg.RisingSign = HRTIM_TIMDEADTIME_RISINGSIGN_POSITIVE;
+  pDeadTimeCfg.RisingLock = HRTIM_TIMDEADTIME_RISINGLOCK_WRITE;
+  pDeadTimeCfg.RisingSignLock = HRTIM_TIMDEADTIME_RISINGSIGNLOCK_WRITE;
+  pDeadTimeCfg.FallingValue = 0x00A;
+  pDeadTimeCfg.FallingSign = HRTIM_TIMDEADTIME_FALLINGSIGN_POSITIVE;
+  pDeadTimeCfg.FallingLock = HRTIM_TIMDEADTIME_FALLINGLOCK_WRITE;
+  pDeadTimeCfg.FallingSignLock = HRTIM_TIMDEADTIME_FALLINGSIGNLOCK_WRITE;
+  if (HAL_HRTIM_DeadTimeConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_A, &pDeadTimeCfg) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_HRTIM_DeadTimeConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_B, &pDeadTimeCfg) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  pOutputCfg.Polarity = HRTIM_OUTPUTPOLARITY_HIGH;
  pOutputCfg.SetSource = HRTIM_OUTPUTSET_TIMPER;
  pOutputCfg.ResetSource = HRTIM_OUTPUTRESET_TIMCMP1;
  pOutputCfg.IdleMode = HRTIM_OUTPUTIDLEMODE_NONE;
@@ -727,7 +772,6 @@ static void MX_HRTIM1_Init(void)
  {
    Error_Handler();
  }
-  pOutputCfg.Polarity = HRTIM_OUTPUTPOLARITY_HIGH;
  pOutputCfg.IdleLevel = HRTIM_OUTPUTIDLELEVEL_INACTIVE;
  if (HAL_HRTIM_WaveformOutputConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_A, HRTIM_OUTPUT_TA2, &pOutputCfg) != HAL_OK)
  {
@@ -776,9 +820,9 @@ static void MX_TIM1_Init(void)

  /* USER CODE END TIM1_Init 1 */
  htim1.Instance = TIM1;
-  htim1.Init.Prescaler = 170-1;
+  htim1.Init.Prescaler = 17-1;
  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 20;
+  htim1.Init.Period = 199;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 0;
  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
@@ -804,6 +848,64 @@ static void MX_TIM1_Init(void)

 }

+/**
+  * @brief TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 17000-1;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 200;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_OC_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_ACTIVE;
+  sConfigOC.Pulse = 100;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_OC_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+
+}
+
 /**
  * @brief USART1 Initialization Function
  * @param None
@@ -862,14 +964,6 @@ static void MX_DMA_Init(void)
  __HAL_RCC_DMAMUX1_CLK_ENABLE();
  __HAL_RCC_DMA1_CLK_ENABLE();

-  /* DMA interrupt init */
-  /* DMA1_Channel1_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
-  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
-  /* DMA1_Channel2_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
-  HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
-
 }

 /**
@@ -890,15 +984,22 @@ static void MX_GPIO_Init(void)
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, ENABLE_DRVA_Pin|ENABLE_DRVB_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOB, ENABLE_DRVA1_Pin|ENABLE_DRVB1_Pin|ENABLE_DRVA2_Pin|ENABLE_DRVB2_Pin, GPIO_PIN_RESET);

-  /*Configure GPIO pins : ENABLE_DRVA_Pin ENABLE_DRVB_Pin */
-  GPIO_InitStruct.Pin = ENABLE_DRVA_Pin|ENABLE_DRVB_Pin;
+  /*Configure GPIO pins : ENABLE_DRVA1_Pin ENABLE_DRVB1_Pin */
+  GPIO_InitStruct.Pin = ENABLE_DRVA1_Pin|ENABLE_DRVB1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

+  /*Configure GPIO pins : ENABLE_DRVA2_Pin ENABLE_DRVB2_Pin */
+  GPIO_InitStruct.Pin = ENABLE_DRVA2_Pin|ENABLE_DRVB2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
@@ -908,6 +1009,7 @@ static void MX_GPIO_Init(void)

 void HAL_TIM_PeriodElapsedCallback (TIM_HandleTypeDef * htim)
 {
+#ifndef EXPERIMENTAL
 	if (htim == &htim1)		// 50khz timer
 	{
 		time++; // current time in 20us increments; -> 1000 = one period
@@ -915,41 +1017,60 @@ void HAL_TIM_PeriodElapsedCallback (TIM_HandleTypeDef * htim)
 		if ((time >= 0) && (time < 500))
 		{
 			// positive half
-			// set hrtim->A with pwm_sine[time]
-
-			//HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_A].CMP1xR = pwm_sine[time];
 			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_A].CMP1xR = 0;
 			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_B].CMP1xR = pwm_sine[time];
-
-			HAL_HRTIM_WaveformOutputStop(&hhrtim1,HRTIM_OUTPUT_TB1|HRTIM_OUTPUT_TA2);
-			HAL_HRTIM_WaveformOutputStart(&hhrtim1,HRTIM_OUTPUT_TA1|HRTIM_OUTPUT_TB2);
-			HAL_GPIO_WritePin(ENABLE_DRVA_GPIO_Port,ENABLE_DRVA_Pin,GPIO_PIN_SET);
-			HAL_GPIO_WritePin(ENABLE_DRVB_GPIO_Port,ENABLE_DRVB_Pin,GPIO_PIN_SET);
-
-
 		}
 		else if ((time >= 500) && (time < 1000))
 		{
-			// negative half
-			// set hrtim->B with pwm_sine[time]

-			//HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_B].CMP1xR = pwm_sine[time-500];
+			// negative half
 			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_B].CMP1xR = 0;
 			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_A].CMP1xR = pwm_sine[time-500];
-
-			HAL_HRTIM_WaveformOutputStop(&hhrtim1,HRTIM_OUTPUT_TA1|HRTIM_OUTPUT_TB2);
-			HAL_HRTIM_WaveformOutputStart(&hhrtim1,HRTIM_OUTPUT_TB1|HRTIM_OUTPUT_TA2);
 		}

 	}
+#endif
+
+#ifdef EXPERIMENTAL
+	if (htim == &htim3)
+	{
+		HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_A].CMP1xR = 0;
+		HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_B].CMP1xR = 0;
+
+	}
+#endif
+
+}
+
+
+void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim)
+{
+	if (htim == &htim3)
+	{
+			//turn on
+#ifdef POLARITY
+			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_A].CMP1xR = 0xD480;
+			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_B].CMP1xR = 0;
+#endif
+#ifndef POLARITY
+			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_B].CMP1xR = 0xD480;
+			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_A].CMP1xR = 0;
+#endif
+	}
+
 }

 void HAL_COMP_TriggerCallback(COMP_HandleTypeDef *hcomp)
 {
+	HAL_GPIO_WritePin(ENABLE_DRVA1_GPIO_Port,ENABLE_DRVA1_Pin,GPIO_PIN_RESET);//LG1
+	HAL_GPIO_WritePin(ENABLE_DRVA2_GPIO_Port,ENABLE_DRVA2_Pin,GPIO_PIN_RESET);//LG2
+	HAL_GPIO_WritePin(ENABLE_DRVB1_GPIO_Port,ENABLE_DRVB1_Pin,GPIO_PIN_RESET);//HG1
+	HAL_GPIO_WritePin(ENABLE_DRVB2_GPIO_Port,ENABLE_DRVB2_Pin,GPIO_PIN_RESET);//HG2
 	HAL_HRTIM_WaveformOutputStop(&hhrtim1,HRTIM_OUTPUT_TB2|HRTIM_OUTPUT_TB1|HRTIM_OUTPUT_TA2|HRTIM_OUTPUT_TA1);
 	HAL_TIM_Base_Stop_IT(&htim1);
+    char etext[20] = "COMP IT\n\r";
+    HAL_UART_Transmit(&huart1,(uint8_t *)(etext),11,10);
 	Error_Handler();
-
 }


@@ -964,7 +1085,7 @@ void Error_Handler(void)
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
 	 char etext[20] = "Error \n\r";
-	  HAL_UART_Transmit(&huart1,(uint8_t *)(etext),strlen(etext),10);
+	  HAL_UART_Transmit(&huart1,(uint8_t *)(etext),10,10);
  __disable_irq();
  while (1)
  {